diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000058.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000058.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a6f41cc47a17e0465addd4f633eda593810a1c4
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000058.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f48d1f3745e18ee3b69cdc55aec6d3ec357f45128d0dbcfc005a4eff0f429196
+size 18231729
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000059.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000059.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d49ade242cd259c9188b1637dc59ee586ee36b6
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000059.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed4cbb8199946397b1640d8303fb51929036237a3c0ceece1b93c0cd5957df72
+size 17966458
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000060.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000060.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a69b7aaf6064987f30447fd45684ccf1ac2331b
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000060.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:249d92ba340e7ab3f8360878cb77a4a5f1e40c93e45a6ffdb51f15abdde9df58
+size 17437491
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000061.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000061.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c06c4b2e85fa98e85e53b260584a72cb5b2de56
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000061.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bcbd1724ce099f6d90db2fba3e7ecef68b81e5320f316fbff6df5483c6b8f6d
+size 20233652
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000062.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000062.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d4ea497ab3c912e95f1453600f2a88b2e8dbca3
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000062.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46dfc7f6183be3a4266633dfe2113acfcc8900d8dd6a825efffde0e30363d445
+size 19135785
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/data/chunk-000/file-000.parquet b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/data/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..46b270d141ab75cd2d85c67fecafb471f3ba6225
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/data/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b3ec5e3151cfd3efdbd22f91f44d9e457f598eea2a9ea3e33c4d2f0dba84e2e
+size 77958910
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/annotation_cache.jsonl b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6287c18b3fb4524439fd110b4fa440ea54925464
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/annotation_cache.jsonl
@@ -0,0 +1,63 @@
+{"source_uid": "5bf28ad4c55065ed", "num_frames": 988, "episode_id": "POC22018_2026_03_17_13_38_31_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_38_31_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_38_31_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_38_31_train/train_0.3.0@2026_03_17_13_38_31.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 312, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 396, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 840, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 912, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 987, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 312, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 396, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 840, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 912, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 987, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "7c6b84df567cd682", "num_frames": 919, "episode_id": "POC22018_2026_03_17_13_39_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_39_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_39_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_39_29_train/train_0.3.0@2026_03_17_13_39_29.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 792, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 918, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 792, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 918, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "7163168a3b453f7e", "num_frames": 931, "episode_id": "POC22018_2026_03_17_13_40_08_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_08_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_08_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_08_train/train_0.3.0@2026_03_17_13_40_08.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 648, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 930, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 648, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 930, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "d7d2adb4dea0aedd", "num_frames": 983, "episode_id": "POC22018_2026_03_17_13_40_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_43_train/train_0.3.0@2026_03_17_13_40_43.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 810, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 982, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 810, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 982, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "9385ba190e929883", "num_frames": 939, "episode_id": "POC22018_2026_03_17_13_41_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_41_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_41_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_41_23_train/train_0.3.0@2026_03_17_13_41_23.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 456, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 938, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 456, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 938, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
+{"source_uid": "9c966b6ad511c0f8", "num_frames": 922, "episode_id": "POC22018_2026_03_17_13_42_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_01_train/train_0.3.0@2026_03_17_13_42_01.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 486, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 516, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 600, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 921, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 486, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 516, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 600, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 921, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
+{"source_uid": "92e3a8e723245a95", "num_frames": 1066, "episode_id": "POC22018_2026_03_17_13_42_41_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_41_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_41_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_41_train/train_0.3.0@2026_03_17_13_42_41.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 912, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 978, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1065, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 912, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 978, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1065, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
+{"source_uid": "fea7d90ebf05d574", "num_frames": 1104, "episode_id": "POC22018_2026_03_17_13_43_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_43_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_43_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_43_23_train/train_0.3.0@2026_03_17_13_43_23.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 504, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 576, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 606, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 774, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 864, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 882, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 960, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1026, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1103, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 504, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 576, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 606, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 774, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 864, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 882, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 960, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1026, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1103, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
+{"source_uid": "f9b0fb719b1a6384", "num_frames": 974, "episode_id": "POC22018_2026_03_17_13_44_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_05_train/train_0.3.0@2026_03_17_13_44_05.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 636, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 720, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 750, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 973, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 636, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 720, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 750, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 973, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
+{"source_uid": "88764e72f8db2c4f", "num_frames": 918, "episode_id": "POC22018_2026_03_17_13_44_45_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_45_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_45_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_45_train/train_0.3.0@2026_03_17_13_44_45.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 840, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 917, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 840, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 917, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "e2fc59966bc58032", "num_frames": 962, "episode_id": "POC22018_2026_03_17_13_45_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_45_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_45_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_45_23_train/train_0.3.0@2026_03_17_13_45_23.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 720, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 744, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 816, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 882, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 961, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 720, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 744, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 816, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 882, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 961, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "60221403628de400", "num_frames": 990, "episode_id": "POC22018_2026_03_17_13_46_03_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_03_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_03_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_03_train/train_0.3.0@2026_03_17_13_46_03.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 840, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 989, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 840, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 989, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
+{"source_uid": "e9d6d8dad9b6524a", "num_frames": 922, "episode_id": "POC22018_2026_03_17_13_46_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_43_train/train_0.3.0@2026_03_17_13_46_43.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 921, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 921, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
+{"source_uid": "2523ead4312ab104", "num_frames": 869, "episode_id": "POC22018_2026_03_17_13_47_55_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_47_55_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_47_55_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_47_55_train/train_0.3.0@2026_03_17_13_47_55.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 480, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 868, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 480, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 868, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
+{"source_uid": "cc24ad6d26de5914", "num_frames": 985, "episode_id": "POC22018_2026_03_17_13_48_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_48_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_48_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_48_29_train/train_0.3.0@2026_03_17_13_48_29.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 468, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 552, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 564, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 690, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 774, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 792, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 984, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 468, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 552, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 564, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 690, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 774, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 792, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 984, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
+{"source_uid": "e753bb4698d5235c", "num_frames": 932, "episode_id": "POC22018_2026_03_17_13_49_56_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_49_56_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_49_56_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_49_56_train/train_0.3.0@2026_03_17_13_49_56.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 498, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 558, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 768, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 931, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 498, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 558, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 768, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 931, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
+{"source_uid": "7365559ecb97d7f5", "num_frames": 838, "episode_id": "POC22018_2026_03_17_13_52_28_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_52_28_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_52_28_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_52_28_train/train_0.3.0@2026_03_17_13_52_28.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 234, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 306, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 468, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 768, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 234, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 306, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 468, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 768, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
+{"source_uid": "758d3826b56ef1d1", "num_frames": 864, "episode_id": "POC22018_2026_03_17_13_53_02_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_53_02_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_53_02_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_53_02_train/train_0.3.0@2026_03_17_13_53_02.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 655, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 656, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 863, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 655, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 656, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 863, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
+{"source_uid": "fcbda6b1a5aaa641", "num_frames": 1148, "episode_id": "POC22018_2026_03_17_13_54_15_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_15_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_15_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_15_train/train_0.3.0@2026_03_17_13_54_15.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 570, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 684, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 708, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1147, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 570, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 684, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 708, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1147, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
+{"source_uid": "6d3d8b4d8cf136f5", "num_frames": 881, "episode_id": "POC22018_2026_03_17_13_54_58_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_58_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_58_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_58_train/train_0.3.0@2026_03_17_13_54_58.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 880, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 880, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
+{"source_uid": "ccfb993a11f22522", "num_frames": 878, "episode_id": "POC22018_2026_03_17_13_55_34_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_55_34_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_55_34_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_55_34_train/train_0.3.0@2026_03_17_13_55_34.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 720, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 877, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 720, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 877, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "cea2388baf6fc5e1", "num_frames": 835, "episode_id": "POC22018_2026_03_17_13_56_48_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_56_48_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_56_48_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_56_48_train/train_0.3.0@2026_03_17_13_56_48.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 762, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 834, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 762, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 834, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
+{"source_uid": "077b0880a61d3aaa", "num_frames": 1064, "episode_id": "POC22018_2026_03_17_13_57_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_57_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_57_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_57_23_train/train_0.3.0@2026_03_17_13_57_23.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 990, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1063, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 990, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1063, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
+{"source_uid": "a4aa1a7ac41d0d6a", "num_frames": 921, "episode_id": "POC22018_2026_03_17_13_58_06_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_06_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_06_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_06_train/train_0.3.0@2026_03_17_13_58_06.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 720, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 920, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 720, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 920, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
+{"source_uid": "1237e1a2f795da44", "num_frames": 909, "episode_id": "POC22018_2026_03_17_13_58_42_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_42_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_42_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_42_train/train_0.3.0@2026_03_17_13_58_42.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 908, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 908, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 30, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
+{"source_uid": "dae11cb0dde77849", "num_frames": 909, "episode_id": "POC22018_2026_03_17_13_59_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_19_train/train_0.3.0@2026_03_17_13_59_19.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 294, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 324, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 390, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 456, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 908, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 294, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 324, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 390, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 456, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 908, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
+{"source_uid": "f702177f4e5a35db", "num_frames": 918, "episode_id": "POC22018_2026_03_17_13_59_54_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_54_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_54_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_54_train/train_0.3.0@2026_03_17_13_59_54.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 264, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 390, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 492, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 516, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 684, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 917, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 264, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 390, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 492, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 516, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 684, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 917, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
+{"source_uid": "2c1d10d63c35f0a0", "num_frames": 889, "episode_id": "POC22018_2026_03_17_14_00_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_00_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_00_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_00_33_train/train_0.3.0@2026_03_17_14_00_33.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
+{"source_uid": "328d028cd35160a1", "num_frames": 872, "episode_id": "POC22018_2026_03_17_14_01_09_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_09_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_09_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_09_train/train_0.3.0@2026_03_17_14_01_09.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 408, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 786, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 871, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 408, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 786, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 871, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
+{"source_uid": "03dd95caaec823f0", "num_frames": 884, "episode_id": "POC22018_2026_03_17_14_01_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_43_train/train_0.3.0@2026_03_17_14_01_43.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 810, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 883, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 810, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 883, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
+{"source_uid": "f3da89735c478309", "num_frames": 908, "episode_id": "POC22018_2026_03_17_14_02_56_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_02_56_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_02_56_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_02_56_train/train_0.3.0@2026_03_17_14_02_56.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 907, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 907, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
+{"source_uid": "3e7dbbbbda1f533e", "num_frames": 838, "episode_id": "POC22018_2026_03_17_14_03_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_03_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_03_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_03_33_train/train_0.3.0@2026_03_17_14_03_33.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 624, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 624, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
+{"source_uid": "f369e73f88f9c83b", "num_frames": 1079, "episode_id": "POC22018_2026_03_17_14_04_08_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_04_08_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_04_08_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_04_08_train/train_0.3.0@2026_03_17_14_04_08.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 270, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 840, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 864, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 918, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 996, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1078, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 270, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 840, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 864, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 918, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 996, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1078, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
+{"source_uid": "40cc6514dfd6c2cf", "num_frames": 874, "episode_id": "POC22018_2026_03_17_14_06_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_06_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_06_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_06_43_train/train_0.3.0@2026_03_17_14_06_43.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 43, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
+{"source_uid": "605aace68daa7a67", "num_frames": 908, "episode_id": "POC22018_2026_03_17_14_07_54_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_07_54_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_07_54_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_07_54_train/train_0.3.0@2026_03_17_14_07_54.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 282, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 318, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 690, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 907, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 282, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 318, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 690, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 907, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
+{"source_uid": "d06f22961a6f1252", "num_frames": 887, "episode_id": "POC22018_2026_03_17_14_09_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_05_train/train_0.3.0@2026_03_17_14_09_05.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
+{"source_uid": "46676ad64272cc88", "num_frames": 1291, "episode_id": "POC22018_2026_03_17_14_09_40_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_40_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_40_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_40_train/train_0.3.0@2026_03_17_14_09_40.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 396, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 570, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 792, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 972, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1002, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1122, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1224, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1290, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 396, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 570, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 792, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 972, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1002, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1122, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1224, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1290, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
+{"source_uid": "853d272667ef76c8", "num_frames": 878, "episode_id": "POC22018_2026_03_17_14_10_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_10_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_10_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_10_29_train/train_0.3.0@2026_03_17_14_10_29.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 877, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 877, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
+{"source_uid": "d2c86f05640a62a6", "num_frames": 957, "episode_id": "POC22018_2026_03_17_14_11_08_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_08_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_08_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_08_train/train_0.3.0@2026_03_17_14_11_08.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 282, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 762, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 870, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 956, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 282, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 762, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 870, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 956, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
+{"source_uid": "067c3251318661f9", "num_frames": 946, "episode_id": "POC22018_2026_03_17_14_11_47_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_47_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_47_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_47_train/train_0.3.0@2026_03_17_14_11_47.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 300, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 324, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 438, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 540, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 606, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 696, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 876, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 945, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 300, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 324, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 438, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 540, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 606, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 696, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 876, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 945, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 51, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
+{"source_uid": "752b28e156ef1041", "num_frames": 939, "episode_id": "POC22018_2026_03_17_14_12_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_12_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_12_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_12_26_train/train_0.3.0@2026_03_17_14_12_26.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 480, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 510, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 938, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 480, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 510, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 938, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
+{"source_uid": "ea217dcd9314536f", "num_frames": 943, "episode_id": "POC22018_2026_03_17_14_13_13_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_13_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_13_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_13_train/train_0.3.0@2026_03_17_14_13_13.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 534, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 552, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 630, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 702, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 720, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 792, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 864, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 942, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 534, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 552, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 630, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 702, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 720, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 792, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 864, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 942, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
+{"source_uid": "75ae403bb5b2ee1c", "num_frames": 1013, "episode_id": "POC22018_2026_03_17_14_13_51_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_51_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_51_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_51_train/train_0.3.0@2026_03_17_14_13_51.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 306, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 336, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 432, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 516, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 540, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 660, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 762, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 804, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 864, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 942, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1012, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 306, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 336, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 432, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 516, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 540, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 660, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 762, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 804, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 864, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 942, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1012, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
+{"source_uid": "0aef53921ef1da56", "num_frames": 876, "episode_id": "POC22018_2026_03_17_14_14_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_14_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_14_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_14_30_train/train_0.3.0@2026_03_17_14_14_30.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 875, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 875, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
+{"source_uid": "0eeaa97522f29c89", "num_frames": 786, "episode_id": "POC22018_2026_03_17_14_15_04_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_04_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_04_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_04_train/train_0.3.0@2026_03_17_14_15_04.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 785, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 785, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
+{"source_uid": "8f533bdba296429f", "num_frames": 823, "episode_id": "POC22018_2026_03_17_14_15_38_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_38_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_38_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_38_train/train_0.3.0@2026_03_17_14_15_38.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 750, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 822, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 750, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 822, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
+{"source_uid": "1f5fd5845bfcab3a", "num_frames": 984, "episode_id": "POC22018_2026_03_17_14_17_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_19_train/train_0.3.0@2026_03_17_14_17_19.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 192, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 252, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 312, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 330, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 678, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 708, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 816, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 906, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 983, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 192, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 252, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 312, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 330, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 678, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 708, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 816, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 906, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 983, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
+{"source_uid": "a8ddddd9acc7e287", "num_frames": 865, "episode_id": "POC22018_2026_03_17_14_17_58_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_58_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_58_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_58_train/train_0.3.0@2026_03_17_14_17_58.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 786, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 864, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 786, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 864, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 61, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
+{"source_uid": "d8764849bc02ce64", "num_frames": 842, "episode_id": "POC22018_2026_03_17_14_18_31_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_18_31_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_18_31_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_18_31_train/train_0.3.0@2026_03_17_14_18_31.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 198, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 240, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 312, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 841, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 198, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 240, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 312, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 841, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 62, "v40_language_source": "previous_published_lerobot", "episode_index": 48}
+{"source_uid": "ab49eb2881a08efc", "num_frames": 889, "episode_id": "POC22018_2026_03_17_14_19_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_05_train/train_0.3.0@2026_03_17_14_19_05.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 366, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 366, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
+{"source_uid": "f9d94739303a3305", "num_frames": 874, "episode_id": "POC22018_2026_03_17_14_19_40_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_40_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_40_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_40_train/train_0.3.0@2026_03_17_14_19_40.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
+{"source_uid": "d5500bafc403aad8", "num_frames": 824, "episode_id": "POC22018_2026_03_17_14_20_16_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_16_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_16_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_16_train/train_0.3.0@2026_03_17_14_20_16.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 240, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 300, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 324, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 823, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 240, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 300, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 324, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 823, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 65, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
+{"source_uid": "94e0c28c7ad9f3ab", "num_frames": 850, "episode_id": "POC22018_2026_03_17_14_20_49_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_49_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_49_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_49_train/train_0.3.0@2026_03_17_14_20_49.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 432, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 849, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 432, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 849, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 66, "v40_language_source": "previous_published_lerobot", "episode_index": 52}
+{"source_uid": "7b8d16063dd985b6", "num_frames": 969, "episode_id": "POC22018_2026_03_17_14_21_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_21_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_21_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_21_26_train/train_0.3.0@2026_03_17_14_21_26.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 968, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 968, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 67, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
+{"source_uid": "0b119be89a5a72bd", "num_frames": 884, "episode_id": "POC22018_2026_03_17_14_22_38_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_22_38_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_22_38_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_22_38_train/train_0.3.0@2026_03_17_14_22_38.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 883, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 883, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 69, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
+{"source_uid": "4b34229b42886600", "num_frames": 1139, "episode_id": "POC22018_2026_03_17_14_23_44_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_23_44_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_23_44_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_23_44_train/train_0.3.0@2026_03_17_14_23_44.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 282, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 768, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 834, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 960, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1138, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 282, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 768, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 834, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 960, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1138, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 71, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
+{"source_uid": "5795cc84c977b5cb", "num_frames": 928, "episode_id": "POC22018_2026_03_17_14_24_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_24_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_24_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_24_29_train/train_0.3.0@2026_03_17_14_24_29.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 927, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 927, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 72, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
+{"source_uid": "55dd7c0126e59a45", "num_frames": 783, "episode_id": "POC22018_2026_03_17_14_25_06_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_06_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_06_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_06_train/train_0.3.0@2026_03_17_14_25_06.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 276, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 420, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 474, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 498, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 782, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 276, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 420, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 474, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 498, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 782, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 73, "v40_language_source": "previous_published_lerobot", "episode_index": 57}
+{"source_uid": "3230ff4a724c317f", "num_frames": 797, "episode_id": "POC22018_2026_03_17_14_25_36_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_36_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_36_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_36_train/train_0.3.0@2026_03_17_14_25_36.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 258, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 342, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 648, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 796, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 258, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 342, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 648, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 796, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 74, "v40_language_source": "previous_published_lerobot", "episode_index": 58}
+{"source_uid": "7fe19e5ee0443b3c", "num_frames": 793, "episode_id": "POC22018_2026_03_17_14_26_10_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_10_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_10_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_10_train/train_0.3.0@2026_03_17_14_26_10.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 534, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 618, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 534, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 618, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 75, "v40_language_source": "previous_published_lerobot", "episode_index": 59}
+{"source_uid": "7fcc2d75f4b2c68a", "num_frames": 792, "episode_id": "POC22018_2026_03_17_14_26_45_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_45_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_45_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_45_train/train_0.3.0@2026_03_17_14_26_45.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 522, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 791, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 522, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 791, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 76, "v40_language_source": "previous_published_lerobot", "episode_index": 60}
+{"source_uid": "42d59b9373acdd03", "num_frames": 809, "episode_id": "POC22018_2026_03_17_14_27_17_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_27_17_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_27_17_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_27_17_train/train_0.3.0@2026_03_17_14_27_17.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 808, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 808, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 77, "v40_language_source": "previous_published_lerobot", "episode_index": 61}
+{"source_uid": "a8516cf814e961cc", "num_frames": 854, "episode_id": "POC22018_2026_03_17_14_28_24_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_28_24_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_28_24_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_28_24_train/train_0.3.0@2026_03_17_14_28_24.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 606, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 853, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 606, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 853, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 79, "v40_language_source": "previous_published_lerobot", "episode_index": 62}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/annotations.jsonl b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6287c18b3fb4524439fd110b4fa440ea54925464
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,63 @@
+{"source_uid": "5bf28ad4c55065ed", "num_frames": 988, "episode_id": "POC22018_2026_03_17_13_38_31_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_38_31_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_38_31_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_38_31_train/train_0.3.0@2026_03_17_13_38_31.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 312, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 396, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 840, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 912, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 987, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 312, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 396, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 840, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 912, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 987, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "7c6b84df567cd682", "num_frames": 919, "episode_id": "POC22018_2026_03_17_13_39_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_39_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_39_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_39_29_train/train_0.3.0@2026_03_17_13_39_29.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 792, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 918, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 792, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 918, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "7163168a3b453f7e", "num_frames": 931, "episode_id": "POC22018_2026_03_17_13_40_08_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_08_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_08_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_08_train/train_0.3.0@2026_03_17_13_40_08.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 648, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 930, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 648, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 930, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "d7d2adb4dea0aedd", "num_frames": 983, "episode_id": "POC22018_2026_03_17_13_40_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_40_43_train/train_0.3.0@2026_03_17_13_40_43.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 810, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 982, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 810, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 982, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "9385ba190e929883", "num_frames": 939, "episode_id": "POC22018_2026_03_17_13_41_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_41_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_41_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_41_23_train/train_0.3.0@2026_03_17_13_41_23.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 456, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 938, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 456, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 938, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
+{"source_uid": "9c966b6ad511c0f8", "num_frames": 922, "episode_id": "POC22018_2026_03_17_13_42_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_01_train/train_0.3.0@2026_03_17_13_42_01.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 486, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 516, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 600, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 921, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 486, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 516, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 600, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 921, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
+{"source_uid": "92e3a8e723245a95", "num_frames": 1066, "episode_id": "POC22018_2026_03_17_13_42_41_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_41_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_41_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_42_41_train/train_0.3.0@2026_03_17_13_42_41.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 912, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 978, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1065, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 912, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 978, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1065, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
+{"source_uid": "fea7d90ebf05d574", "num_frames": 1104, "episode_id": "POC22018_2026_03_17_13_43_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_43_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_43_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_43_23_train/train_0.3.0@2026_03_17_13_43_23.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 504, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 576, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 606, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 774, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 864, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 882, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 960, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1026, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1103, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 504, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 576, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 606, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 774, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 864, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 882, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 960, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1026, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1103, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
+{"source_uid": "f9b0fb719b1a6384", "num_frames": 974, "episode_id": "POC22018_2026_03_17_13_44_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_05_train/train_0.3.0@2026_03_17_13_44_05.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 636, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 720, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 750, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 973, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 636, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 720, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 750, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 973, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
+{"source_uid": "88764e72f8db2c4f", "num_frames": 918, "episode_id": "POC22018_2026_03_17_13_44_45_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_45_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_45_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_44_45_train/train_0.3.0@2026_03_17_13_44_45.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 840, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 917, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 840, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 917, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "e2fc59966bc58032", "num_frames": 962, "episode_id": "POC22018_2026_03_17_13_45_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_45_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_45_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_45_23_train/train_0.3.0@2026_03_17_13_45_23.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 720, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 744, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 816, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 882, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 961, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 720, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 744, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 816, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 882, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 961, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "60221403628de400", "num_frames": 990, "episode_id": "POC22018_2026_03_17_13_46_03_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_03_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_03_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_03_train/train_0.3.0@2026_03_17_13_46_03.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 840, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 989, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 840, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 989, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
+{"source_uid": "e9d6d8dad9b6524a", "num_frames": 922, "episode_id": "POC22018_2026_03_17_13_46_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_46_43_train/train_0.3.0@2026_03_17_13_46_43.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 921, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 921, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
+{"source_uid": "2523ead4312ab104", "num_frames": 869, "episode_id": "POC22018_2026_03_17_13_47_55_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_47_55_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_47_55_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_47_55_train/train_0.3.0@2026_03_17_13_47_55.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 480, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 868, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 480, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 868, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
+{"source_uid": "cc24ad6d26de5914", "num_frames": 985, "episode_id": "POC22018_2026_03_17_13_48_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_48_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_48_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_48_29_train/train_0.3.0@2026_03_17_13_48_29.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 468, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 552, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 564, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 690, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 774, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 792, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 984, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 468, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 552, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 564, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 690, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 774, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 792, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 984, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
+{"source_uid": "e753bb4698d5235c", "num_frames": 932, "episode_id": "POC22018_2026_03_17_13_49_56_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_49_56_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_49_56_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_49_56_train/train_0.3.0@2026_03_17_13_49_56.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 498, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 558, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 768, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 931, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 498, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 558, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 768, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 931, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
+{"source_uid": "7365559ecb97d7f5", "num_frames": 838, "episode_id": "POC22018_2026_03_17_13_52_28_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_52_28_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_52_28_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_52_28_train/train_0.3.0@2026_03_17_13_52_28.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 234, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 306, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 468, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 768, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 234, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 306, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 468, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 768, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
+{"source_uid": "758d3826b56ef1d1", "num_frames": 864, "episode_id": "POC22018_2026_03_17_13_53_02_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_53_02_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_53_02_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_53_02_train/train_0.3.0@2026_03_17_13_53_02.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 655, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 656, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 863, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 655, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 656, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 863, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
+{"source_uid": "fcbda6b1a5aaa641", "num_frames": 1148, "episode_id": "POC22018_2026_03_17_13_54_15_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_15_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_15_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_15_train/train_0.3.0@2026_03_17_13_54_15.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 570, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 684, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 708, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1147, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 570, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 684, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 708, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1147, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
+{"source_uid": "6d3d8b4d8cf136f5", "num_frames": 881, "episode_id": "POC22018_2026_03_17_13_54_58_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_58_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_58_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_54_58_train/train_0.3.0@2026_03_17_13_54_58.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 880, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 880, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
+{"source_uid": "ccfb993a11f22522", "num_frames": 878, "episode_id": "POC22018_2026_03_17_13_55_34_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_55_34_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_55_34_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_55_34_train/train_0.3.0@2026_03_17_13_55_34.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 720, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 877, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 720, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 877, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "cea2388baf6fc5e1", "num_frames": 835, "episode_id": "POC22018_2026_03_17_13_56_48_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_56_48_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_56_48_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_56_48_train/train_0.3.0@2026_03_17_13_56_48.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 762, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 834, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 762, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 834, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
+{"source_uid": "077b0880a61d3aaa", "num_frames": 1064, "episode_id": "POC22018_2026_03_17_13_57_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_57_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_57_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_57_23_train/train_0.3.0@2026_03_17_13_57_23.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 990, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1063, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 990, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1063, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
+{"source_uid": "a4aa1a7ac41d0d6a", "num_frames": 921, "episode_id": "POC22018_2026_03_17_13_58_06_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_06_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_06_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_06_train/train_0.3.0@2026_03_17_13_58_06.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 720, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 920, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 720, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 920, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
+{"source_uid": "1237e1a2f795da44", "num_frames": 909, "episode_id": "POC22018_2026_03_17_13_58_42_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_42_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_42_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_58_42_train/train_0.3.0@2026_03_17_13_58_42.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 908, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 908, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 30, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
+{"source_uid": "dae11cb0dde77849", "num_frames": 909, "episode_id": "POC22018_2026_03_17_13_59_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_19_train/train_0.3.0@2026_03_17_13_59_19.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 294, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 324, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 390, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 456, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 908, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 294, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 324, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 390, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 456, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 908, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
+{"source_uid": "f702177f4e5a35db", "num_frames": 918, "episode_id": "POC22018_2026_03_17_13_59_54_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_54_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_54_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_13_59_54_train/train_0.3.0@2026_03_17_13_59_54.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 264, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 390, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 492, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 516, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 684, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 917, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 264, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 390, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 492, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 516, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 684, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 917, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
+{"source_uid": "2c1d10d63c35f0a0", "num_frames": 889, "episode_id": "POC22018_2026_03_17_14_00_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_00_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_00_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_00_33_train/train_0.3.0@2026_03_17_14_00_33.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
+{"source_uid": "328d028cd35160a1", "num_frames": 872, "episode_id": "POC22018_2026_03_17_14_01_09_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_09_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_09_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_09_train/train_0.3.0@2026_03_17_14_01_09.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 408, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 786, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 871, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 408, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 786, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 871, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
+{"source_uid": "03dd95caaec823f0", "num_frames": 884, "episode_id": "POC22018_2026_03_17_14_01_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_01_43_train/train_0.3.0@2026_03_17_14_01_43.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 810, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 883, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 660, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 810, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 883, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
+{"source_uid": "f3da89735c478309", "num_frames": 908, "episode_id": "POC22018_2026_03_17_14_02_56_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_02_56_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_02_56_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_02_56_train/train_0.3.0@2026_03_17_14_02_56.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 907, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 907, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
+{"source_uid": "3e7dbbbbda1f533e", "num_frames": 838, "episode_id": "POC22018_2026_03_17_14_03_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_03_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_03_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_03_33_train/train_0.3.0@2026_03_17_14_03_33.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 624, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 624, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
+{"source_uid": "f369e73f88f9c83b", "num_frames": 1079, "episode_id": "POC22018_2026_03_17_14_04_08_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_04_08_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_04_08_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_04_08_train/train_0.3.0@2026_03_17_14_04_08.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 270, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 840, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 864, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 918, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 996, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1078, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 270, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 840, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 864, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 918, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 996, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1078, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
+{"source_uid": "40cc6514dfd6c2cf", "num_frames": 874, "episode_id": "POC22018_2026_03_17_14_06_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_06_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_06_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_06_43_train/train_0.3.0@2026_03_17_14_06_43.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 43, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
+{"source_uid": "605aace68daa7a67", "num_frames": 908, "episode_id": "POC22018_2026_03_17_14_07_54_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_07_54_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_07_54_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_07_54_train/train_0.3.0@2026_03_17_14_07_54.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 282, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 318, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 690, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 907, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 282, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 318, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 690, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 907, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
+{"source_uid": "d06f22961a6f1252", "num_frames": 887, "episode_id": "POC22018_2026_03_17_14_09_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_05_train/train_0.3.0@2026_03_17_14_09_05.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
+{"source_uid": "46676ad64272cc88", "num_frames": 1291, "episode_id": "POC22018_2026_03_17_14_09_40_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_40_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_40_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_09_40_train/train_0.3.0@2026_03_17_14_09_40.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 396, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 570, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 792, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 972, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1002, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1122, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1224, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1290, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 396, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 570, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 792, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 972, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1002, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1122, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1224, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1290, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
+{"source_uid": "853d272667ef76c8", "num_frames": 878, "episode_id": "POC22018_2026_03_17_14_10_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_10_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_10_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_10_29_train/train_0.3.0@2026_03_17_14_10_29.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 877, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 877, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
+{"source_uid": "d2c86f05640a62a6", "num_frames": 957, "episode_id": "POC22018_2026_03_17_14_11_08_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_08_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_08_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_08_train/train_0.3.0@2026_03_17_14_11_08.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 282, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 762, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 870, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 956, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 282, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 762, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 870, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 956, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
+{"source_uid": "067c3251318661f9", "num_frames": 946, "episode_id": "POC22018_2026_03_17_14_11_47_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_47_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_47_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_11_47_train/train_0.3.0@2026_03_17_14_11_47.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 300, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 324, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 438, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 540, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 606, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 696, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 876, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 945, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 300, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 324, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 438, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 540, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 606, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 696, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 876, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 945, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 51, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
+{"source_uid": "752b28e156ef1041", "num_frames": 939, "episode_id": "POC22018_2026_03_17_14_12_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_12_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_12_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_12_26_train/train_0.3.0@2026_03_17_14_12_26.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 480, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 510, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 938, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 480, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 510, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 576, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 660, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 938, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
+{"source_uid": "ea217dcd9314536f", "num_frames": 943, "episode_id": "POC22018_2026_03_17_14_13_13_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_13_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_13_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_13_train/train_0.3.0@2026_03_17_14_13_13.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 534, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 552, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 630, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 702, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 720, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 792, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 864, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 942, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 534, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 552, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 630, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 702, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 720, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 792, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 864, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 942, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
+{"source_uid": "75ae403bb5b2ee1c", "num_frames": 1013, "episode_id": "POC22018_2026_03_17_14_13_51_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_51_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_51_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_13_51_train/train_0.3.0@2026_03_17_14_13_51.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 306, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 336, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 432, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 516, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 540, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 660, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 762, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 804, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 864, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 942, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1012, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 306, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 336, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 432, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 516, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 540, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 660, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 762, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 804, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 864, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 942, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1012, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
+{"source_uid": "0aef53921ef1da56", "num_frames": 876, "episode_id": "POC22018_2026_03_17_14_14_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_14_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_14_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_14_30_train/train_0.3.0@2026_03_17_14_14_30.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 875, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 534, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 875, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
+{"source_uid": "0eeaa97522f29c89", "num_frames": 786, "episode_id": "POC22018_2026_03_17_14_15_04_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_04_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_04_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_04_train/train_0.3.0@2026_03_17_14_15_04.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 785, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 785, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
+{"source_uid": "8f533bdba296429f", "num_frames": 823, "episode_id": "POC22018_2026_03_17_14_15_38_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_38_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_38_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_15_38_train/train_0.3.0@2026_03_17_14_15_38.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 750, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 822, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 750, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 822, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
+{"source_uid": "1f5fd5845bfcab3a", "num_frames": 984, "episode_id": "POC22018_2026_03_17_14_17_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_19_train/train_0.3.0@2026_03_17_14_17_19.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 192, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 252, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 312, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 330, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 678, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 708, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 816, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 906, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 983, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 192, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 252, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 312, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 330, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 678, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 708, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 816, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 906, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 983, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
+{"source_uid": "a8ddddd9acc7e287", "num_frames": 865, "episode_id": "POC22018_2026_03_17_14_17_58_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_58_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_58_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_17_58_train/train_0.3.0@2026_03_17_14_17_58.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 786, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 864, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 786, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 864, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 61, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
+{"source_uid": "d8764849bc02ce64", "num_frames": 842, "episode_id": "POC22018_2026_03_17_14_18_31_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_18_31_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_18_31_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_18_31_train/train_0.3.0@2026_03_17_14_18_31.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 198, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 240, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 312, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 841, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 198, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 240, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 312, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 841, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 62, "v40_language_source": "previous_published_lerobot", "episode_index": 48}
+{"source_uid": "ab49eb2881a08efc", "num_frames": 889, "episode_id": "POC22018_2026_03_17_14_19_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_05_train/train_0.3.0@2026_03_17_14_19_05.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 366, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 366, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
+{"source_uid": "f9d94739303a3305", "num_frames": 874, "episode_id": "POC22018_2026_03_17_14_19_40_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_40_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_40_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_19_40_train/train_0.3.0@2026_03_17_14_19_40.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 798, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
+{"source_uid": "d5500bafc403aad8", "num_frames": 824, "episode_id": "POC22018_2026_03_17_14_20_16_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_16_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_16_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_16_train/train_0.3.0@2026_03_17_14_20_16.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 240, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 300, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 324, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 823, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 240, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 300, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 324, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 823, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 65, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
+{"source_uid": "94e0c28c7ad9f3ab", "num_frames": 850, "episode_id": "POC22018_2026_03_17_14_20_49_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_49_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_49_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_20_49_train/train_0.3.0@2026_03_17_14_20_49.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 432, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 849, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 432, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 849, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 66, "v40_language_source": "previous_published_lerobot", "episode_index": 52}
+{"source_uid": "7b8d16063dd985b6", "num_frames": 969, "episode_id": "POC22018_2026_03_17_14_21_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_21_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_21_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_21_26_train/train_0.3.0@2026_03_17_14_21_26.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 968, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 900, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 968, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 67, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
+{"source_uid": "0b119be89a5a72bd", "num_frames": 884, "episode_id": "POC22018_2026_03_17_14_22_38_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_22_38_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_22_38_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_22_38_train/train_0.3.0@2026_03_17_14_22_38.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 883, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 883, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 69, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
+{"source_uid": "4b34229b42886600", "num_frames": 1139, "episode_id": "POC22018_2026_03_17_14_23_44_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_23_44_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_23_44_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_23_44_train/train_0.3.0@2026_03_17_14_23_44.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 282, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 768, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 834, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 960, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1138, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 258, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 282, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 768, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 834, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 960, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1138, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 71, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
+{"source_uid": "5795cc84c977b5cb", "num_frames": 928, "episode_id": "POC22018_2026_03_17_14_24_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_24_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_24_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_24_29_train/train_0.3.0@2026_03_17_14_24_29.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 927, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 927, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 72, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
+{"source_uid": "55dd7c0126e59a45", "num_frames": 783, "episode_id": "POC22018_2026_03_17_14_25_06_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_06_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_06_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_06_train/train_0.3.0@2026_03_17_14_25_06.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 276, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 420, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 474, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 498, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 782, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 276, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 420, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 474, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 498, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 782, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 73, "v40_language_source": "previous_published_lerobot", "episode_index": 57}
+{"source_uid": "3230ff4a724c317f", "num_frames": 797, "episode_id": "POC22018_2026_03_17_14_25_36_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_36_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_36_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_25_36_train/train_0.3.0@2026_03_17_14_25_36.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 258, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 342, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 648, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 796, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 258, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 342, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 648, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 796, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 74, "v40_language_source": "previous_published_lerobot", "episode_index": 58}
+{"source_uid": "7fe19e5ee0443b3c", "num_frames": 793, "episode_id": "POC22018_2026_03_17_14_26_10_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_10_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_10_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_10_train/train_0.3.0@2026_03_17_14_26_10.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 534, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 618, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 534, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 618, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 75, "v40_language_source": "previous_published_lerobot", "episode_index": 59}
+{"source_uid": "7fcc2d75f4b2c68a", "num_frames": 792, "episode_id": "POC22018_2026_03_17_14_26_45_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_45_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_45_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_26_45_train/train_0.3.0@2026_03_17_14_26_45.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 522, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 791, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 522, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 708, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 791, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 76, "v40_language_source": "previous_published_lerobot", "episode_index": 60}
+{"source_uid": "42d59b9373acdd03", "num_frames": 809, "episode_id": "POC22018_2026_03_17_14_27_17_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_27_17_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_27_17_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_27_17_train/train_0.3.0@2026_03_17_14_27_17.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 808, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 808, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 77, "v40_language_source": "previous_published_lerobot", "episode_index": 61}
+{"source_uid": "a8516cf814e961cc", "num_frames": 854, "episode_id": "POC22018_2026_03_17_14_28_24_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_28_24_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_28_24_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_13_38_31_train/POC22018_2026_03_17_14_28_24_train/train_0.3.0@2026_03_17_14_28_24.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 606, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 853, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 606, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 853, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 79, "v40_language_source": "previous_published_lerobot", "episode_index": 62}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b5a930c141d5ea2765e4f0aec1d25610276e32ef
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:820c56c6d0c957bf4c06c237636d2446041fb29a5b41baf5013daf04e5ef811b
+size 1795479
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/info.json b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc1460f46c953918bff75043c5d84ba5ed99b28d
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "robot",
+    "total_episodes": 63,
+    "total_frames": 58036,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:63"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/modality.json b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/stats.json b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..249359133be4bb4327df57ec3b804a95c42d2eeb
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
+    "observation.state.joint_torque": {
+        "min": [
+            -50.182498931884766,
+            -14.114999771118164,
+            -32.79999923706055,
+            -13.907999992370605,
+            -1.7247999906539917,
+            -16.11359977722168,
+            -8.45680046081543,
+            -2.3038113117218018,
+            -1.2926304340362549,
+            -1.4042391777038574,
+            -2.751314640045166,
+            -0.45491015911102295,
+            -0.9652209877967834,
+            -1.833536148071289,
+            -0.551205039024353,
+            -0.10773894935846329,
+            -1.2444250583648682,
+            -1.0035996437072754,
+            -0.7471152544021606,
+            -0.1662461906671524,
+            -1.3154255151748657,
+            -2.1434433460235596,
+            -0.77201908826828,
+            -0.14912211894989014,
+            -0.4908180236816406,
+            -0.9057342410087585,
+            -0.5737596154212952,
+            -0.7703588008880615,
+            -0.1790892481803894,
+            -50.939998626708984,
+            -34.49100112915039,
+            -21.104999542236328,
+            -23.764999389648438,
+            -4.5208001136779785,
+            -21.24959945678711,
+            -7.1743998527526855,
+            -1.5473358631134033,
+            -0.923307478427887,
+            -1.7708326578140259,
+            -1.176827073097229,
+            -0.21583329141139984,
+            -0.8520042300224304,
+            -1.6397243738174438,
+            -0.7487755417823792,
+            -0.1598246693611145,
+            -1.536102294921875,
+            -2.142483711242676,
+            -0.7686985731124878,
+            -0.07491781562566757,
+            -1.5581698417663574,
+            -0.707125186920166,
+            -0.7836409211158752,
+            -0.07491781562566757,
+            -0.15305078029632568,
+            -1.1408029794692993,
+            -1.3298174142837524,
+            -0.7703588008880615,
+            -0.15625715255737305,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            39.86399841308594,
+            24.434999465942383,
+            23.417999267578125,
+            14.897000312805176,
+            11.899200439453125,
+            4.407199859619141,
+            4.112800121307373,
+            4.431875705718994,
+            5.029160022735596,
+            2.7873525619506836,
+            1.949779987335205,
+            1.0559228658676147,
+            2.1501593589782715,
+            1.522669792175293,
+            0.899858832359314,
+            0.21405088901519775,
+            1.1935734748840332,
+            2.141524314880371,
+            0.77201908826828,
+            0.1598246693611145,
+            0.9124504923820496,
+            1.3240606784820557,
+            0.939704954624176,
+            0.08205283433198929,
+            0.14381495118141174,
+            0.5277053117752075,
+            0.44135355949401855,
+            0.7603973150253296,
+            0.19978082180023193,
+            55.388999938964844,
+            19.97100067138672,
+            29.844999313354492,
+            6.953999996185303,
+            5.739200115203857,
+            3.8559999465942383,
+            4.327199935913086,
+            2.892180919647217,
+            4.923457145690918,
+            2.6307740211486816,
+            2.139911413192749,
+            0.8102049827575684,
+            2.148240566253662,
+            1.4967641830444336,
+            1.0625640153884888,
+            0.21547789871692657,
+            1.0477349758148193,
+            0.6294085383415222,
+            0.7454550266265869,
+            0.1148739829659462,
+            1.197411298751831,
+            1.0189510583877563,
+            0.9214420318603516,
+            0.11701448261737823,
+            0.4908180236816406,
+            0.8021121025085449,
+            0.7675713896751404,
+            0.9015191197395325,
+            0.2047753483057022,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            -27.320581596998156,
+            2.9545143059587664,
+            -14.175861480193493,
+            -3.7645802454687476,
+            0.017721099741933484,
+            0.6708565731015188,
+            1.3428752546007576,
+            0.03329169184435481,
+            0.5080536339608909,
+            0.14300844445249328,
+            0.11396509322697235,
+            0.05978810390575234,
+            0.279952205379671,
+            -0.029659029858503855,
+            -0.00017896758072969243,
+            0.033467697999321054,
+            0.008707239589179511,
+            0.009623132435551953,
+            0.0038643099995231208,
+            0.0011937368647471918,
+            0.0040045301384572345,
+            -0.06822369122241426,
+            0.006272790110629189,
+            0.000470214588249544,
+            0.0024033805032946604,
+            0.0014507599974078872,
+            -0.0007292397582486842,
+            0.0008498395672642822,
+            -0.0016014479041133764,
+            27.10663855058582,
+            4.197781696253194,
+            14.198219767657982,
+            -4.0841071739113985,
+            -0.49347318530039563,
+            0.5374683929647455,
+            -1.1991975401016652,
+            0.10793786419134335,
+            0.3319561823396833,
+            0.1442490924149174,
+            0.10381497130683684,
+            0.038377756999952044,
+            0.1783660892651676,
+            -0.0008845690634278454,
+            0.08476407499565372,
+            0.023090625931452995,
+            0.005302486365230724,
+            -0.025153433898984837,
+            0.00011191286592070753,
+            -0.00027771244060412404,
+            0.010223801587531533,
+            0.012615257509315319,
+            0.0009234751488033034,
+            0.0005962541840118426,
+            0.007376130969728087,
+            0.0031247476835954534,
+            -0.002150155370551522,
+            -0.0016675222375528594,
+            -0.00437698746145402,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            3.518624881624187,
+            2.3046171280383128,
+            2.9070554223997864,
+            1.9405773235325177,
+            0.6320556689124084,
+            0.8826005160701204,
+            0.9580107502623703,
+            0.5001548734570518,
+            1.133807188065292,
+            0.4278488589768906,
+            0.34465182075020157,
+            0.14101883981453472,
+            0.5932201596832292,
+            0.3002970022197346,
+            0.028782875116139063,
+            0.07058880439218321,
+            0.08879378534927661,
+            0.12544290145461434,
+            0.03822577672337471,
+            0.008170835931952508,
+            0.11545277997324935,
+            0.2748192386673844,
+            0.038943717921329384,
+            0.006063393595465407,
+            0.016508106739021887,
+            0.04691256501529703,
+            0.0670619765232934,
+            0.030473427173352448,
+            0.010448113801832758,
+            3.8838030236599295,
+            2.2648729984542575,
+            2.70663674053293,
+            1.4874249359681453,
+            0.39895209924108505,
+            1.0005082885432488,
+            0.645261334626655,
+            0.47933164491744223,
+            0.7861005820105704,
+            0.3673707807135705,
+            0.3488840506857456,
+            0.09269768459162465,
+            0.5091601598953269,
+            0.2060935368740586,
+            0.2347183184003423,
+            0.06070708447431792,
+            0.08490104818473156,
+            0.13808499344581646,
+            0.025079270915270443,
+            0.009226177071251083,
+            0.08909110477461889,
+            0.11691857213865595,
+            0.02563506580088635,
+            0.009293221887181092,
+            0.038219496633784614,
+            0.08634464657628585,
+            0.18799141284356197,
+            0.02971299487652568,
+            0.0120447781701951,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            -34.83543689833807,
+            -1.8890010695109087,
+            -17.70612551080292,
+            -7.097437167649423,
+            -0.7747935575245759,
+            -2.063509131214408,
+            -1.9584697181214903,
+            -0.8998533441570695,
+            -0.3995204624746985,
+            -0.5426854558675368,
+            -0.6660306619847133,
+            -0.11385677634653801,
+            -0.3644678358717966,
+            -0.7933949902602481,
+            -0.05318749382967012,
+            -0.018221402201604973,
+            -0.22919558002351137,
+            -0.2392301393872016,
+            -0.077298430637003,
+            -0.016699666263769192,
+            -0.3647955105658906,
+            -1.0127251559728754,
+            -0.07414155077854127,
+            -0.011962536849931257,
+            -0.0509278727269187,
+            -0.18067187366917026,
+            -0.32368278382840915,
+            -0.07488807475217452,
+            -0.029744245436768204,
+            13.649040491965819,
+            -2.0907175933926907,
+            3.3240363442423937,
+            -7.546294530667662,
+            -1.594460355044356,
+            -2.9897559639437477,
+            -2.128979955579824,
+            -0.6685669052972897,
+            -0.3984775357640158,
+            -0.382094985795262,
+            -0.6077596947259098,
+            -0.08005389849793557,
+            -0.28583120904601583,
+            -0.6865535087540319,
+            -0.07114433039056492,
+            -0.027152184808173448,
+            -0.2696691201433455,
+            -0.4989168632254045,
+            -0.04817013614547934,
+            -0.01680842580189141,
+            -0.28558060199972296,
+            -0.31592176480367545,
+            -0.05572707891417182,
+            -0.01664165970322229,
+            -0.09095958912731188,
+            -0.2540943168691951,
+            -0.6125151202621232,
+            -0.06461072007619764,
+            -0.037040986298570666,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16
+        ],
+        "q10": [
+            -31.007149644697943,
+            0.24674847043968035,
+            -16.134776563389316,
+            -5.862967871862505,
+            -0.4594233001302215,
+            -0.006866329958103104,
+            0.07019865912827701,
+            -0.35343432431519317,
+            -0.11794333323421713,
+            -0.24245231931840283,
+            -0.22589959821009395,
+            -0.04180836266490755,
+            -0.15221196311858998,
+            -0.3768490176134438,
+            -0.006169455957465061,
+            -0.0036420810614816437,
+            -0.034478760231186255,
+            -0.06032283838317976,
+            -0.03150244525561356,
+            -0.007706377870888158,
+            -0.08035220737656908,
+            -0.3759003391924119,
+            -0.026772018344209007,
+            -0.007215601527947184,
+            -0.000653786901449668,
+            -0.018437974305599434,
+            -0.02124147176636409,
+            -0.0193161838817211,
+            -0.010913457332806591,
+            24.62923025805877,
+            1.6760166499791198,
+            11.563291897290792,
+            -5.828457954354023,
+            -0.8828823643296693,
+            -0.03311850420096611,
+            -1.7554804869394296,
+            -0.2592636788955288,
+            -0.11855014198179756,
+            -0.15701365671695183,
+            -0.25866459606010267,
+            -0.024558043789906798,
+            -0.12386719077306427,
+            -0.22030365561427237,
+            -0.012635428317256963,
+            -0.007706906619136266,
+            -0.05007096994480554,
+            -0.1680726200398407,
+            -0.012588419254611957,
+            -0.01115100228542265,
+            -0.03421000581068653,
+            -0.09345322731777969,
+            -0.008881361813396943,
+            -0.010845260625759304,
+            -0.0005944694453004759,
+            -0.062300932992257786,
+            -0.23017566028610884,
+            -0.022311398491479614,
+            -0.016073188793933307,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15
+        ],
+        "q50": [
+            -26.931397382127738,
+            3.0317865150273944,
+            -14.963987024751084,
+            -3.8072352547409163,
+            -0.04290502419969847,
+            0.5977158877660441,
+            1.6961176444415462,
+            -0.03222783653568277,
+            0.026417514547475117,
+            0.06584891741447046,
+            0.07424223552443597,
+            0.014642845112455524,
+            0.0512138865448056,
+            0.005503360767084938,
+            1.9740704364281025e-06,
+            1.87572770362484e-05,
+            0.00018224529822917523,
+            0.00033867528304391966,
+            0.0015570274450931992,
+            0.0011013080999010977,
+            0.0005417181653313604,
+            -0.0011986428307386443,
+            0.002160784927989883,
+            0.0002508892142021034,
+            0.00015202606727237643,
+            0.0003640334974040361,
+            0.0004417830324906145,
+            -0.00024495205366182303,
+            -0.0009725709506734402,
+            26.938120568832716,
+            4.489666547070208,
+            14.897957091868468,
+            -4.039229856125123,
+            -0.4596801314947598,
+            0.4733581536271838,
+            -1.3601618504356208,
+            0.009624958976330339,
+            0.03841512220203032,
+            0.06293157420087073,
+            0.06785066219742636,
+            0.010934562346919002,
+            0.0015766472471334361,
+            0.018689941451960256,
+            0.0006626169267929799,
+            0.0007548267023155182,
+            0.0019267449495914517,
+            0.0011273688186016376,
+            -0.00035059225715106595,
+            -0.0006931719907473889,
+            0.0010029862693183588,
+            0.0032372658156855044,
+            0.00022072340199343182,
+            0.00030614417087730693,
+            9.752361774313298e-05,
+            0.0003487266230323741,
+            0.0077404363039881244,
+            -0.0005740345696083358,
+            -0.00373042685831708,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            -25.062384155958,
+            5.310636707813164,
+            -11.567607007304485,
+            -1.9428745772652523,
+            0.38506399566978183,
+            1.6845482113437253,
+            2.1056195463355762,
+            0.5628687516535759,
+            2.2860552082202714,
+            0.5654692033277563,
+            0.4985423194938475,
+            0.26273573790578325,
+            1.2955995213988587,
+            0.2227421763768102,
+            0.007675941689934127,
+            0.15604697911894244,
+            0.057705564001787515,
+            0.07335588780530813,
+            0.04255911681616536,
+            0.009874039810093917,
+            0.09888236559021715,
+            0.10584834015288433,
+            0.04461027495473149,
+            0.00838168099662329,
+            0.00961335716910664,
+            0.031079801191887302,
+            0.040448726398151176,
+            0.02582672678395875,
+            0.00865612518902702,
+            31.009338866928992,
+            6.232166861441183,
+            15.805438686562962,
+            -2.4550601194130386,
+            -0.13241527235099618,
+            1.48107050231877,
+            -0.29087623266808893,
+            0.6465280298059151,
+            1.4321538663678581,
+            0.5460553399104844,
+            0.4804602773794754,
+            0.1487416313665107,
+            0.9742303309687551,
+            0.16879797674658858,
+            0.39184769704069555,
+            0.12465223612429502,
+            0.07097425264498672,
+            0.07666977139055114,
+            0.014154205808982448,
+            0.011451912629681931,
+            0.07648547395213254,
+            0.12711098327691964,
+            0.012473885140761668,
+            0.012311376524956829,
+            0.029995007025438288,
+            0.06849469631586978,
+            0.1978621519425555,
+            0.019197185792099655,
+            0.008868421175932452,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14
+        ],
+        "q99": [
+            -14.865390660101705,
+            9.399283717776141,
+            -1.6191174283018777,
+            2.446016203197098,
+            2.7109386917276423,
+            2.379889281483422,
+            2.413806981911041,
+            1.7389088871630467,
+            3.9808225457360744,
+            1.7341927289328067,
+            1.171054372376993,
+            0.502857942274489,
+            1.812901891709051,
+            0.5926307104201868,
+            0.03669745138251906,
+            0.2008796733597504,
+            0.3459657338607815,
+            0.46829555148097424,
+            0.09769081527514707,
+            0.014459364268341067,
+            0.37330341034294817,
+            0.5279267482212234,
+            0.08883740624401384,
+            0.012313433599373088,
+            0.061487464178658253,
+            0.1440910476353719,
+            0.17602660059576106,
+            0.06889585456749076,
+            0.014928660425758728,
+            35.03707750121209,
+            8.290728199529207,
+            17.831275421251096,
+            -0.5161407707133373,
+            0.45560340485094253,
+            2.280025002108434,
+            0.8975414427977059,
+            1.8950487346812344,
+            3.1459203105106885,
+            1.481329750510659,
+            1.2279819514902777,
+            0.400573775639691,
+            1.8385893835073064,
+            0.45899936139350433,
+            0.8837202559279327,
+            0.20651210189939925,
+            0.2616602342911831,
+            0.22169191882723954,
+            0.06389455543766205,
+            0.015411215618995933,
+            0.3256053579242851,
+            0.37513222455950157,
+            0.062045827767847395,
+            0.018153264903746275,
+            0.15119196221673595,
+            0.302715385774285,
+            0.40663298730634667,
+            0.06971504206774497,
+            0.015168901535019817,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14
+        ]
+    },
+    "observation.state": {
+        "min": [
+            0.788070797920227,
+            -1.1328325271606445,
+            -0.0122397281229496,
+            0.516200602054596,
+            -1.976749062538147,
+            -0.806738018989563,
+            -0.3647798001766205,
+            0.006344473455101252,
+            -0.35412150621414185,
+            -0.23335634171962738,
+            -0.2842665910720825,
+            0.006512965075671673,
+            0.0030092692468315363,
+            -0.1447599232196808,
+            -0.004340203944593668,
+            0.000859353574924171,
+            0.00307059776969254,
+            -0.0002502199204172939,
+            0.0027024780865758657,
+            0.0008429468725807965,
+            0.002914332551881671,
+            -0.038011450320482254,
+            0.002757435431703925,
+            0.0008677785517647862,
+            0.004828341770917177,
+            0.003210917580872774,
+            -1.3001664228795562e-05,
+            0.0030191028490662575,
+            0.000742289877962321,
+            0.7634372711181641,
+            -1.1392781734466553,
+            -0.007500567007809877,
+            0.38211748003959656,
+            -1.8003809452056885,
+            -0.872078537940979,
+            -0.5744286179542542,
+            0.0049604871310293674,
+            -0.3518187701702118,
+            -0.23099032044410706,
+            -0.31422364711761475,
+            0.0028443033806979656,
+            0.003546507330611348,
+            -0.0023127987515181303,
+            -0.001829899032600224,
+            0.0004647072055377066,
+            0.003036253619939089,
+            -6.917853897903115e-05,
+            0.0028428849764168262,
+            0.0008837418281473219,
+            0.0030252146534621716,
+            -0.0019401886966079473,
+            0.0011916857911273837,
+            0.0008323047659359872,
+            0.006179121322929859,
+            0.002998720621690154,
+            -2.698442585824523e-05,
+            0.0025266148149967194,
+            0.0006642474909313023,
+            0.5605741143226624,
+            -1.107150673866272,
+            0.45530468225479126,
+            -0.036911413073539734,
+            -0.013422331772744656,
+            -0.06778277456760406,
+            -0.8729309439659119
+        ],
+        "max": [
+            1.3423516750335693,
+            -0.2510106563568115,
+            0.2968338131904602,
+            1.8025859594345093,
+            3.834951712633483e-06,
+            0.34167492389678955,
+            0.6159788370132446,
+            1.462647557258606,
+            0.0023681337479501963,
+            0.7354496717453003,
+            0.123101145029068,
+            0.556930661201477,
+            1.4739055633544922,
+            0.16463108360767365,
+            0.15972843766212463,
+            0.4397096633911133,
+            1.4719994068145752,
+            0.17763857543468475,
+            1.2769135236740112,
+            1.3913697004318237,
+            1.469279170036316,
+            0.16778090596199036,
+            1.5577584505081177,
+            1.1647074222564697,
+            0.1690133661031723,
+            1.4669021368026733,
+            0.20559093356132507,
+            1.7350175380706787,
+            1.356035590171814,
+            1.29897141456604,
+            -0.14609768986701965,
+            0.264636367559433,
+            1.8452295064926147,
+            0.1392834186553955,
+            0.4015653729438782,
+            0.6281800866127014,
+            1.4244663715362549,
+            0.0068913293071091175,
+            0.7474665641784668,
+            0.3481203019618988,
+            0.6031138896942139,
+            1.4668569564819336,
+            0.2670011520385742,
+            0.24900205433368683,
+            0.31824547052383423,
+            1.480950951576233,
+            0.2998332977294922,
+            1.1871116161346436,
+            1.1739182472229004,
+            1.4681154489517212,
+            0.3054404556751251,
+            1.738988995552063,
+            1.2017345428466797,
+            0.17884451150894165,
+            1.4685115814208984,
+            0.2108011692762375,
+            1.7388616800308228,
+            1.2248483896255493,
+            0.5628750920295715,
+            -1.1066712141036987,
+            0.5497403740882874,
+            0.018791263923048973,
+            0.06126335635781288,
+            0.11514443159103394,
+            -0.5998823642730713
+        ],
+        "mean": [
+            1.0551677628190042,
+            -0.7804970344315061,
+            0.044827794222382235,
+            1.374894724371465,
+            -0.8104466719192003,
+            -0.22970179090767667,
+            0.3698191655165171,
+            1.237684493930789,
+            -0.2710864681919226,
+            0.09802550946296715,
+            -0.07709349514316209,
+            0.351391932981312,
+            1.2743340271811179,
+            0.05922749366576532,
+            0.012361082278991974,
+            0.4116890249734448,
+            1.4276416610986213,
+            0.15176450171758168,
+            0.6173056429945915,
+            0.8915827203673197,
+            1.426028112528679,
+            0.05303483563849374,
+            0.823636226116475,
+            0.7995824453027007,
+            0.12853772050949938,
+            1.4308575796850118,
+            0.18900119730489834,
+            0.9657072596877424,
+            0.7546794974708001,
+            1.0223416379181836,
+            -0.7923356550392946,
+            0.06961480751093814,
+            1.4131447794197658,
+            -0.6592376102053475,
+            -0.37784273918951494,
+            0.17088462020651743,
+            1.2145054765983838,
+            -0.23253720518474008,
+            0.06988322534719407,
+            -0.030194387179315718,
+            0.4631471380014202,
+            1.2215501758296214,
+            0.18329401820211488,
+            0.1661169323152589,
+            0.25153132604066764,
+            1.4098816970221402,
+            0.1370497642776789,
+            0.720591103349073,
+            0.857621370312331,
+            1.4211115767485154,
+            0.14450237954951903,
+            1.2832337238345917,
+            0.9484010648699481,
+            0.13809641690005445,
+            1.430390431081265,
+            0.1628048510746875,
+            1.1829709780079416,
+            0.7340908621457297,
+            0.5619830232421964,
+            -1.106869265179342,
+            0.48077354144960494,
+            -0.010885061216882408,
+            0.01792971434224042,
+            0.0193961455372496,
+            -0.8636859987202992
+        ],
+        "std": [
+            0.10363207127493695,
+            0.18771185880682256,
+            0.0561266975878886,
+            0.2276048286747207,
+            0.5943391634082189,
+            0.1917714777810443,
+            0.15402066198691702,
+            0.21070583074140725,
+            0.06486814595563552,
+            0.26442210887793827,
+            0.07432879054753488,
+            0.09807471562787898,
+            0.22468985802442926,
+            0.054291862988205035,
+            0.02209388707028875,
+            0.0664100781124523,
+            0.19070302533057612,
+            0.025975309269815016,
+            0.4163657287425315,
+            0.40814811395722683,
+            0.1940526896285646,
+            0.050199859602809586,
+            0.5540008792038292,
+            0.19084643355194564,
+            0.0230853080497984,
+            0.18128588652346736,
+            0.03157905522841466,
+            0.6326919777983928,
+            0.49501676927960087,
+            0.07704416094512744,
+            0.173475783599824,
+            0.046394060344576465,
+            0.2423818969852515,
+            0.45861444824423175,
+            0.2534290814429373,
+            0.2420884820465419,
+            0.19878371368416003,
+            0.07987979472148744,
+            0.21483952370634637,
+            0.08113331528627321,
+            0.090492412850682,
+            0.21339860936580882,
+            0.04922808289156271,
+            0.06057038645695261,
+            0.04488960896600517,
+            0.21975590109045,
+            0.04214038796491008,
+            0.4161820624674278,
+            0.2780090350839272,
+            0.2048495860205437,
+            0.036147178889799646,
+            0.7326254759597788,
+            0.23959148098219288,
+            0.025645273210845372,
+            0.18124521924565914,
+            0.03678217971014823,
+            0.680576544487122,
+            0.4244491411539742,
+            0.001477184616768237,
+            0.0006419513966041567,
+            0.018755543846663062,
+            0.011963657596915592,
+            0.014290972989816478,
+            0.03046410930703862,
+            0.03953816754726973
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            0.8995503646605173,
+            -1.0124697572822896,
+            0.0002922619338958062,
+            0.9548569682127945,
+            -1.7921329132354735,
+            -0.7449442103757495,
+            0.14495356725616765,
+            0.07410275577844112,
+            -0.3430493453349725,
+            -0.19304559340665992,
+            -0.20296100309520873,
+            0.01612294473983912,
+            0.07292111011990379,
+            -0.053009536767606724,
+            0.00348299449166199,
+            0.014422694268240418,
+            0.19159638912867927,
+            0.0066649348885053005,
+            0.0034855683961862905,
+            0.012746701250382818,
+            0.18294907202607386,
+            0.001391264278180583,
+            0.0033343164209735134,
+            0.02344104277627248,
+            0.007348839972989789,
+            0.22343706669812252,
+            0.008297243241862736,
+            0.0030661257472453097,
+            0.0008285865994340168,
+            0.9062620051759533,
+            -0.9941966372398882,
+            0.0010041129377101274,
+            0.8650647145349118,
+            -1.5002496096133693,
+            -0.7703387869864745,
+            -0.3134703433394891,
+            0.07205690069654018,
+            -0.3292440153302819,
+            -0.15225949614244344,
+            -0.17974154645201446,
+            0.018378457884086527,
+            0.05062265310677166,
+            0.005874095721604212,
+            0.007998913761803877,
+            0.008484645461557389,
+            0.09970585609005446,
+            0.008708582792043177,
+            0.0028787753366421925,
+            0.017181096807810433,
+            0.14146051098387813,
+            0.008658354226798918,
+            0.0024781874892734913,
+            0.0286333964261226,
+            0.006691244222487188,
+            0.22368360457317585,
+            0.008230028793400889,
+            0.0034193817750265212,
+            0.0008573007694909575,
+            0.5617578778365401,
+            -1.1070129034585976,
+            0.4763972107904342,
+            -0.014532289272348009,
+            0.0011227022129223832,
+            -0.015648621888996097,
+            -0.8728754805923485
+        ],
+        "q10": [
+            0.9489408514639281,
+            -0.9723048264508963,
+            0.005965041197160168,
+            1.0431867217728026,
+            -1.7317218223570792,
+            -0.37917786440763207,
+            0.2354059911132504,
+            1.1744649119056816,
+            -0.3224013153967921,
+            -0.14573927383203295,
+            -0.1646684092861425,
+            0.26826184290758076,
+            1.180409786894395,
+            -0.015801919735005415,
+            0.0052224188514282815,
+            0.4228856557723446,
+            1.461999257779935,
+            0.14782218199652877,
+            0.11595776352462688,
+            0.5018299219879044,
+            1.4606041979169182,
+            0.016269506043998717,
+            0.17189957407833362,
+            0.6809240866723868,
+            0.12270506141910424,
+            1.4621040588542895,
+            0.1854677306173928,
+            0.26588232192274774,
+            0.21017638741764144,
+            0.952004421590797,
+            -0.9166020879429183,
+            0.024330643956176706,
+            1.0417892244843128,
+            -1.3788694413843736,
+            -0.584298572188012,
+            -0.21346461677169878,
+            1.1694372582329202,
+            -0.30091025870170823,
+            -0.09539766133913062,
+            -0.12484993693485598,
+            0.413754908118279,
+            1.2081750930707567,
+            0.13915589470878914,
+            0.15411497937548438,
+            0.24916945421657435,
+            1.4445942174960278,
+            0.11378260012823015,
+            0.1991348809420993,
+            0.6253478548176374,
+            1.4587377672923532,
+            0.1276268339715851,
+            0.3859836187786148,
+            0.7950957087538432,
+            0.13648501350963185,
+            1.4613543788504297,
+            0.13827603233613942,
+            0.37933816416443245,
+            0.24494978438662263,
+            0.5619005426469165,
+            -1.1068660976718057,
+            0.47740512862234236,
+            -0.013531346002956211,
+            0.014113389336850548,
+            0.00011332096648963014,
+            -0.8725960303160735
+        ],
+        "q50": [
+            1.0460847480763031,
+            -0.8063522481418876,
+            0.03940310022986782,
+            1.4711164383614443,
+            -0.5733576241569138,
+            -0.25037651308097,
+            0.3874478130407987,
+            1.2680775235099682,
+            -0.28893593841855025,
+            0.004936496427100055,
+            -0.07206283252373877,
+            0.3623011991049192,
+            1.303897279821368,
+            0.07144862661012245,
+            0.006545735208606579,
+            0.4249798281337351,
+            1.4636307557590662,
+            0.15434336182548097,
+            0.715822585959332,
+            1.0367235310915923,
+            1.4630645743888162,
+            0.035222819151602774,
+            0.964353463924158,
+            0.8601190692720921,
+            0.1364794936939302,
+            1.4639007705713447,
+            0.19445034221402852,
+            1.152103216601671,
+            0.9004599502322671,
+            1.0240683250124216,
+            -0.8591679871577224,
+            0.06865702965834615,
+            1.4777164189481522,
+            -0.4742325175259073,
+            -0.4459118305897998,
+            0.23918896944038864,
+            1.2413733402851193,
+            -0.25495433041167964,
+            -0.0039055746557802172,
+            -0.02007585360183218,
+            0.4807011574447804,
+            1.2493775309173463,
+            0.19633315187297629,
+            0.17428567189655272,
+            0.26138999361170034,
+            1.4554152416363655,
+            0.14351283544185275,
+            0.7540496334009621,
+            0.8698731485873759,
+            1.4625043340095112,
+            0.15249593391280486,
+            1.3458435183864497,
+            0.9736515314783196,
+            0.14279499490544956,
+            1.463132780377474,
+            0.1723267831852528,
+            1.2259601529170445,
+            0.7580034316615227,
+            0.5619674528660833,
+            -1.1068629631820093,
+            0.4790004678573867,
+            -0.010721461093196837,
+            0.017302671167574776,
+            0.019469430137053035,
+            -0.8719371649532541
+        ],
+        "q90": [
+            1.164461573319539,
+            -0.5227231495187992,
+            0.09287465121183532,
+            1.5482914846764932,
+            -0.32689761615242424,
+            0.005120726314718848,
+            0.46802872369624027,
+            1.3670317174190385,
+            -0.19579394243866094,
+            0.4931111862023528,
+            -0.0037424460456376846,
+            0.43737786290075054,
+            1.4322630983070175,
+            0.10457413132508096,
+            0.024767174405351738,
+            0.42680810646863615,
+            1.4651179264719345,
+            0.164410980557615,
+            0.9646221212601699,
+            1.1696615940263793,
+            1.4655157768278486,
+            0.10111160849903301,
+            1.2467986355334943,
+            0.9138233159395869,
+            0.1389435397454376,
+            1.4654752810621496,
+            0.20099552195577772,
+            1.4503639726335675,
+            1.1330021171204,
+            1.085341230769359,
+            -0.5382650297802802,
+            0.11401679061855013,
+            1.5892139579336375,
+            -0.31752614568048465,
+            0.026052734877656646,
+            0.382729146749546,
+            1.3367019761233236,
+            -0.12177435952097386,
+            0.43143143425110425,
+            0.044449024799980745,
+            0.5216953849546351,
+            1.3326108868702877,
+            0.21175642469585262,
+            0.17860408753087903,
+            0.26533807626252204,
+            1.46534582665321,
+            0.15459631560718823,
+            0.9746735175187848,
+            1.0726204887076691,
+            1.464836163089201,
+            0.15654745438416254,
+            1.738816637484171,
+            1.1036706640634446,
+            0.14760961194569522,
+            1.465414111321148,
+            0.18303789977147616,
+            1.6425701465982043,
+            1.0249296807503168,
+            0.562044714173324,
+            -1.106862910159828,
+            0.481128821546427,
+            -0.009236754541393995,
+            0.02372752957336737,
+            0.038694453913937873,
+            -0.8707371215872192
+        ],
+        "q99": [
+            1.209391218945887,
+            -0.4416789119303857,
+            0.133645714648609,
+            1.611780211240629,
+            -0.015319575873577877,
+            0.1080579971324287,
+            0.5347108876351987,
+            1.389147422937606,
+            -0.012031316490722832,
+            0.619103579066394,
+            0.02902485799850756,
+            0.4506945963272459,
+            1.4487461447053975,
+            0.11355081518700441,
+            0.03357419288581732,
+            0.4287841345779048,
+            1.4663199080578098,
+            0.16957865325518134,
+            1.024441247870309,
+            1.177590848292408,
+            1.4664441606570344,
+            0.13859211543356492,
+            1.276608496074143,
+            0.9166672299924886,
+            0.13949626742161594,
+            1.4659279618840857,
+            0.2040708959355448,
+            1.4833902775269374,
+            1.1603422764232383,
+            1.1533636798498632,
+            -0.396132874811503,
+            0.1555968190752632,
+            1.6704200225086085,
+            -0.0017245011662175482,
+            0.22897334993735297,
+            0.5270377316623789,
+            1.3679974952234593,
+            -0.011655626275088834,
+            0.6049426211610696,
+            0.09385012746046349,
+            0.5433643259525293,
+            1.3753250032044078,
+            0.21813691884810524,
+            0.18526971756959665,
+            0.2741676842120036,
+            1.466441607864604,
+            0.2292964917438649,
+            0.983714284585452,
+            1.110235814225103,
+            1.4660384510762035,
+            0.21507087484353038,
+            1.738946302669483,
+            1.116185199116024,
+            0.14871930472225361,
+            1.4664545753682015,
+            0.20574345587408954,
+            1.6963966375670376,
+            1.0694549022535187,
+            0.562668545975778,
+            -1.1067658633402302,
+            0.5366114027465372,
+            0.0007206802240005066,
+            0.02628471384694048,
+            0.05263921841790658,
+            -0.6240319139542895
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            43.0
+        ],
+        "mean": [
+            15.497480873940306
+        ],
+        "std": [
+            9.162189898558486
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            0.2921104938137085
+        ],
+        "q10": [
+            3.0846564351210417
+        ],
+        "q50": [
+            15.490929869621114
+        ],
+        "q90": [
+            27.90944094236879
+        ],
+        "q99": [
+            30.702851254066918
+        ]
+    },
+    "action.tcp_pose": {
+        "min": [
+            0.2670454978942871,
+            0.04270799830555916,
+            0.9631919860839844,
+            -1.208856463432312,
+            1.0738707780838013,
+            -2.0940191745758057,
+            0.24258337914943695,
+            -0.31912970542907715,
+            0.9724012017250061,
+            -0.8151643872261047,
+            0.9904907941818237,
+            -0.12093742191791534
+        ],
+        "max": [
+            0.4776943027973175,
+            0.36090153455734253,
+            1.2025213241577148,
+            1.0782471895217896,
+            2.3031821250915527,
+            -0.049943938851356506,
+            0.49620962142944336,
+            -0.05518472567200661,
+            1.181593894958496,
+            1.3201465606689453,
+            2.4299702644348145,
+            1.7496006488800049
+        ],
+        "mean": [
+            0.3583034212952708,
+            0.21611002916585068,
+            1.0777230508852997,
+            -0.31950730107149145,
+            1.5323926035479893,
+            -1.2317039022065919,
+            0.36691736937076574,
+            -0.20939089444020653,
+            1.0728907441503797,
+            0.622227540476037,
+            1.5663874519402077,
+            1.0617824526368498
+        ],
+        "std": [
+            0.03340834524032171,
+            0.06660241671931103,
+            0.056126319323531654,
+            0.6276628953521487,
+            0.2393780223524219,
+            0.36587819023960183,
+            0.040413883845723766,
+            0.051693470739477755,
+            0.03506500914523229,
+            0.4374796376439622,
+            0.2900694159101611,
+            0.36074667357914403
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            0.31503638863856065,
+            0.10494788808623963,
+            0.982792903606967,
+            -1.1899539096908782,
+            1.2042675268398606,
+            -1.6826347343294672,
+            0.3043470111514176,
+            -0.2810195340100509,
+            0.9907946593289194,
+            -0.1060477920453482,
+            1.186596316519944,
+            0.24737791901101017
+        ],
+        "q10": [
+            0.3265752165337276,
+            0.12844980349336088,
+            0.9986194149664139,
+            -0.790552442977287,
+            1.3097328881630217,
+            -1.5709882564022124,
+            0.32374859398166006,
+            -0.25572467025830575,
+            1.0179287885902095,
+            -0.000760700111005134,
+            1.3148792958645739,
+            0.44477317216802575
+        ],
+        "q50": [
+            0.35484602774372953,
+            0.22149906334836258,
+            1.0854351776710627,
+            -0.585713732356118,
+            1.4671755254603192,
+            -1.3589416226109357,
+            0.3644320596486237,
+            -0.2262929757031831,
+            1.0824247100860236,
+            0.7825113143941591,
+            1.4753523488673108,
+            1.1876499029183079
+        ],
+        "q90": [
+            0.3942951503175248,
+            0.2839826546339632,
+            1.139830139347379,
+            0.6617551644065456,
+            1.886067800394211,
+            -0.7037662578513669,
+            0.4180996983367491,
+            -0.13245938920128808,
+            1.1061717975280185,
+            0.9791759393637184,
+            2.045461381909454,
+            1.3443251199605841
+        ],
+        "q99": [
+            0.41024590643980996,
+            0.30483413987721786,
+            1.1621488132861175,
+            0.7319257073713984,
+            2.0324879389568205,
+            -0.5793437382307152,
+            0.4313977236985631,
+            -0.10512489640692818,
+            1.130888351306909,
+            1.225912530833349,
+            2.271170278183349,
+            1.4949940843576992
+        ]
+    },
+    "observation.images.wrist_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.30634173590508895
+                ]
+            ],
+            [
+                [
+                    0.30716750897209755
+                ]
+            ],
+            [
+                [
+                    0.30852878860940264
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0014491649013950727
+                ]
+            ],
+            [
+                [
+                    0.0015875596423295917
+                ]
+            ],
+            [
+                [
+                    0.0013127239776700842
+                ]
+            ]
+        ],
+        "count": [
+            1485721600
+        ],
+        "q01": [
+            [
+                [
+                    0.022667614143746347
+                ]
+            ],
+            [
+                [
+                    0.02101904434909053
+                ]
+            ],
+            [
+                [
+                    0.01944869120461162
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.11318278828247208
+                ]
+            ],
+            [
+                [
+                    0.11170456788546745
+                ]
+            ],
+            [
+                [
+                    0.11119155806473306
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.2767512223269734
+                ]
+            ],
+            [
+                [
+                    0.2777561649440422
+                ]
+            ],
+            [
+                [
+                    0.27833491830017165
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.5543693661307315
+                ]
+            ],
+            [
+                [
+                    0.5593864264253995
+                ]
+            ],
+            [
+                [
+                    0.5586845792364179
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7904930065340298
+                ]
+            ],
+            [
+                [
+                    0.7919473575227404
+                ]
+            ],
+            [
+                [
+                    0.7968017422509606
+                ]
+            ]
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            62
+        ],
+        "mean": [
+            30.366220966296776
+        ],
+        "std": [
+            18.09369417490149
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            30.366220966296776
+        ],
+        "q10": [
+            30.366220966296776
+        ],
+        "q50": [
+            30.366220966296797
+        ],
+        "q90": [
+            30.366220966296808
+        ],
+        "q99": [
+            30.366220966296808
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.9999999999994134e-15
+        ],
+        "q50": [
+            1.999999999999709e-14
+        ],
+        "q90": [
+            3.5999999999994766e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "observation.images.head_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3634416176584614
+                ]
+            ],
+            [
+                [
+                    0.35808711502248364
+                ]
+            ],
+            [
+                [
+                    0.3572546876937397
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.005286493395383941
+                ]
+            ],
+            [
+                [
+                    0.00464721549326845
+                ]
+            ],
+            [
+                [
+                    0.004337546404626475
+                ]
+            ]
+        ],
+        "count": [
+            1485721600
+        ],
+        "q01": [
+            [
+                [
+                    0.031286068601908856
+                ]
+            ],
+            [
+                [
+                    0.03125908243984038
+                ]
+            ],
+            [
+                [
+                    0.02861485422821413
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.09005607284692782
+                ]
+            ],
+            [
+                [
+                    0.08595604716011765
+                ]
+            ],
+            [
+                [
+                    0.08249272723823724
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.25868328149503805
+                ]
+            ],
+            [
+                [
+                    0.25597471078827216
+                ]
+            ],
+            [
+                [
+                    0.2546481131987322
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8147045250564435
+                ]
+            ],
+            [
+                [
+                    0.8128845797943519
+                ]
+            ],
+            [
+                [
+                    0.8148143046704623
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.8750109738747033
+                ]
+            ],
+            [
+                [
+                    0.874628469232522
+                ]
+            ],
+            [
+                [
+                    0.87475501712906
+                ]
+            ]
+        ]
+    },
+    "observation.images.tactile_raw": {
+        "min": [
+            [
+                [
+                    0.050980392156862744
+                ]
+            ],
+            [
+                [
+                    0.050980392156862744
+                ]
+            ],
+            [
+                [
+                    0.050980392156862744
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.488623761621984
+                ]
+            ],
+            [
+                [
+                    0.488623761621984
+                ]
+            ],
+            [
+                [
+                    0.488623761621984
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.00037421366678707166
+                ]
+            ],
+            [
+                [
+                    0.00037421366678707166
+                ]
+            ],
+            [
+                [
+                    0.00037421366678707166
+                ]
+            ]
+        ],
+        "count": [
+            445716480
+        ],
+        "q01": [
+            [
+                [
+                    0.20184444166472468
+                ]
+            ],
+            [
+                [
+                    0.20184444166472468
+                ]
+            ],
+            [
+                [
+                    0.20184444166472468
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.27321225983301956
+                ]
+            ],
+            [
+                [
+                    0.27321225983301956
+                ]
+            ],
+            [
+                [
+                    0.27321225983301956
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.5098494997318985
+                ]
+            ],
+            [
+                [
+                    0.5098494997318985
+                ]
+            ],
+            [
+                [
+                    0.5098494997318985
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.66665591010557
+                ]
+            ],
+            [
+                [
+                    0.66665591010557
+                ]
+            ],
+            [
+                [
+                    0.66665591010557
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7834161603936571
+                ]
+            ],
+            [
+                [
+                    0.7834161603936571
+                ]
+            ],
+            [
+                [
+                    0.7834161603936571
+                ]
+            ]
+        ]
+    },
+    "observation.images.wrist_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.31349173461384333
+                ]
+            ],
+            [
+                [
+                    0.3120786474978049
+                ]
+            ],
+            [
+                [
+                    0.31115308506535494
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0022271298030790113
+                ]
+            ],
+            [
+                [
+                    0.0019356454272099952
+                ]
+            ],
+            [
+                [
+                    0.001860595354821894
+                ]
+            ]
+        ],
+        "count": [
+            1485721600
+        ],
+        "q01": [
+            [
+                [
+                    0.023465752726489424
+                ]
+            ],
+            [
+                [
+                    0.02345504635434608
+                ]
+            ],
+            [
+                [
+                    0.023424933011987108
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.1239317284776795
+                ]
+            ],
+            [
+                [
+                    0.12069245497035075
+                ]
+            ],
+            [
+                [
+                    0.12019807896551472
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.2830550565631799
+                ]
+            ],
+            [
+                [
+                    0.2817631748810978
+                ]
+            ],
+            [
+                [
+                    0.2830357943729976
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.5693177174870234
+                ]
+            ],
+            [
+                [
+                    0.5709366087002187
+                ]
+            ],
+            [
+                [
+                    0.5638454332711141
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.8087682104826772
+                ]
+            ],
+            [
+                [
+                    0.8092943694786159
+                ]
+            ],
+            [
+                [
+                    0.8086761508791951
+                ]
+            ]
+        ]
+    },
+    "observation.tactile": {
+        "min": [
+            -13.340597152709961,
+            -0.11172230541706085,
+            -0.03991381824016571,
+            -0.49629780650138855,
+            -0.07222777605056763,
+            -0.22621384263038635,
+            -11.163823127746582,
+            -0.012170698493719101,
+            -0.051208555698394775,
+            -0.4451090395450592,
+            -0.06901943683624268,
+            -0.1878376305103302,
+            -0.07635344564914703,
+            -0.01435524970293045,
+            -0.014100342988967896,
+            -0.0006362441927194595,
+            -0.0021246671676635742,
+            -0.0008327703108079731,
+            -0.28312769532203674,
+            -0.015880245715379715,
+            -0.006018981337547302,
+            -0.0005777721526101232,
+            -0.0018964298069477081,
+            -0.004177095368504524,
+            -0.04087819904088974,
+            -0.01212923601269722,
+            -0.008980877697467804,
+            -0.0005707453237846494,
+            -0.002069898648187518,
+            -0.0006061510648578405,
+            -13.399840354919434,
+            -0.024177156388759613,
+            -0.03338344395160675,
+            -0.43700337409973145,
+            -0.06649860739707947,
+            -0.19125598669052124,
+            -10.749016761779785,
+            -0.03144705295562744,
+            -0.1263677179813385,
+            -0.3212602436542511,
+            -0.054477009922266006,
+            -0.19979052245616913,
+            -0.05296000838279724,
+            -0.019527345895767212,
+            -0.009750187397003174,
+            -0.00047750130761414766,
+            -0.001993086189031601,
+            -0.0006859817658551037,
+            -0.06399636715650558,
+            -0.013508640229701996,
+            -0.02288363128900528,
+            -0.08560539036989212,
+            -0.006942545995116234,
+            -0.0070579200983047485,
+            -0.2210066020488739,
+            -0.02776629850268364,
+            -0.014972224831581116,
+            -0.0008341609500348568,
+            -0.0019151924643665552,
+            -0.0029936451464891434
+        ],
+        "max": [
+            11.224471092224121,
+            24.821645736694336,
+            25.540884017944336,
+            0.008317030034959316,
+            0.0685017853975296,
+            0.20104283094406128,
+            10.941201210021973,
+            23.48207664489746,
+            25.708791732788086,
+            0.025889771059155464,
+            0.053741972893476486,
+            0.17718729376792908,
+            0.06508920341730118,
+            0.051213186234235764,
+            0.07806390523910522,
+            0.001634238287806511,
+            0.0012388498289510608,
+            0.0016890420811250806,
+            0.2590576410293579,
+            0.05126941204071045,
+            0.1457577645778656,
+            0.0023499629460275173,
+            0.00323803024366498,
+            0.0034781924914568663,
+            0.0694035142660141,
+            0.02843557298183441,
+            0.03342306986451149,
+            0.0017620209837332368,
+            0.0008084688452072442,
+            0.00022228973102755845,
+            9.59440803527832,
+            20.68008804321289,
+            23.99317169189453,
+            0.010313685983419418,
+            0.0331730917096138,
+            0.17297793924808502,
+            5.2378764152526855,
+            20.785493850708008,
+            17.73659896850586,
+            0.009418579749763012,
+            0.0526282824575901,
+            0.08806684613227844,
+            0.3344232738018036,
+            0.0701376274228096,
+            0.054766278713941574,
+            0.0018586606020107865,
+            0.002538736443966627,
+            0.003288841340690851,
+            4.011194705963135,
+            2.1206514835357666,
+            4.8029465675354,
+            0.0020127552561461926,
+            0.01498729269951582,
+            0.06428705900907516,
+            0.07309802621603012,
+            0.060342080891132355,
+            0.07925529778003693,
+            0.0013420984614640474,
+            0.001487466157414019,
+            0.0006680627120658755
+        ],
+        "mean": [
+            -1.5069409969236385,
+            1.9153536391885548,
+            2.785458933928946,
+            -0.05502748541106831,
+            -0.0013438987325955617,
+            -0.02784913454928179,
+            0.2611382274884412,
+            1.5280316845861208,
+            1.8304169415755935,
+            -0.037705295599525394,
+            0.0016785957710699758,
+            0.002835652984004199,
+            -0.008363098291989413,
+            0.000377689101448248,
+            0.0007788731606011432,
+            0.00029090489351215704,
+            -0.00022599117893368098,
+            -0.00019266074760689736,
+            -0.0024926511269630367,
+            -0.00014290782354159487,
+            0.00591556027393669,
+            0.0004416269111913235,
+            -0.00030389622427640794,
+            -0.0003807489123556459,
+            -0.0012422127093383412,
+            -0.0006875676023341785,
+            0.0006098744058749033,
+            0.0003880734500701128,
+            -0.0002869168861783723,
+            -0.00022647453317281406,
+            0.26411493455935187,
+            1.5236959536617332,
+            1.971334660822087,
+            -0.043622482596413305,
+            -0.003272321806584968,
+            0.005687070716428227,
+            -0.49968379530796997,
+            0.7985042663576996,
+            1.1566449639111613,
+            -0.02038621346207753,
+            -0.0026492315769192903,
+            -0.008374636066286982,
+            0.0010996494111152133,
+            -0.002592398765796577,
+            0.0006536660319923725,
+            0.00039746330192913444,
+            -0.0002852096121878379,
+            -0.00026792966544001936,
+            0.0019493948629965621,
+            0.001533592228099063,
+            0.0033735848899663595,
+            0.00033254202443344004,
+            -0.00015443885100525695,
+            -6.755323195352171e-06,
+            -0.010319708213122527,
+            0.0011149678812025546,
+            -0.0021769817301240195,
+            0.0002048168257743953,
+            -0.00018223284199690707,
+            -0.00017209726916710025
+        ],
+        "std": [
+            3.1339215944717886,
+            3.394463841819052,
+            4.965046919778712,
+            0.097396127782035,
+            0.007859396498979473,
+            0.05647650666782985,
+            1.4009830257208913,
+            3.007364777572924,
+            3.503052610558546,
+            0.07459023999908339,
+            0.006920794122154746,
+            0.026259380347170066,
+            0.009833084682416367,
+            0.002436240673521951,
+            0.0023535956834632677,
+            0.0002718914049405883,
+            0.00025830164461326994,
+            8.836156384647184e-05,
+            0.010939735242925963,
+            0.0041225721857751025,
+            0.00475340288514936,
+            0.00028802887056864426,
+            0.00022973540764185005,
+            0.00012349533922822778,
+            0.00867302211853021,
+            0.0032624486435887563,
+            0.0019942409510190894,
+            0.00025695321939469716,
+            0.00027393518716979,
+            8.657954170177698e-05,
+            1.2094537982054423,
+            3.4155569125513456,
+            4.353336219280725,
+            0.0957296148272726,
+            0.008244166975845955,
+            0.023826731396993567,
+            1.509997113203755,
+            1.905278973718748,
+            2.681942679873705,
+            0.04966132626911579,
+            0.006952430974436246,
+            0.027220743820319734,
+            0.010144470452867364,
+            0.0030627598310774486,
+            0.0022267737132846124,
+            0.0002767356966540621,
+            0.0002878719541525677,
+            9.850890259548826e-05,
+            0.06446808259290081,
+            0.015009230384580949,
+            0.02797497166300732,
+            0.00068280866011036,
+            0.0004880561850764056,
+            0.0008528362057437281,
+            0.0119705311023846,
+            0.006168380703149408,
+            0.0030889275498888714,
+            0.00018585032946179117,
+            0.00024133736327030747,
+            0.00013510999065820942
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            -8.603076391414616,
+            -0.00882272672198466,
+            -0.002771016612597465,
+            -0.31164651142869904,
+            -0.023508899163250285,
+            -0.15506283674004834,
+            -1.9113819904055762,
+            -0.004629608285576692,
+            -0.0015265508737868404,
+            -0.23297618793463956,
+            -0.010437537411128118,
+            -0.04440888074865888,
+            -0.024496740119093214,
+            -0.0033981657883884555,
+            -0.0034027193403126793,
+            -0.00010052824048049227,
+            -0.0007220601121909964,
+            -0.0003625561689691695,
+            -0.022100363368790635,
+            -0.00656337452600216,
+            -5.0604509812333034e-05,
+            1.7746228784817333e-05,
+            -0.0006690282728197373,
+            -0.0006371435632041019,
+            -0.01698482578085064,
+            -0.005301648030999271,
+            -0.002894125214234834,
+            5.65521243547005e-05,
+            -0.0006801387710780291,
+            -0.00038923362364043704,
+            -2.3151303889373853,
+            -0.005228374768480807,
+            -0.0009002143939115543,
+            -0.3217782108882637,
+            -0.03081844378075438,
+            -0.04412576740205231,
+            -5.5052502679725395,
+            -0.006178887465435509,
+            -0.00019596849634741394,
+            -0.16949321664190467,
+            -0.025601023888475776,
+            -0.09981907888155207,
+            -0.01384887107810804,
+            -0.007017469837259827,
+            -0.00308965390344381,
+            3.545580391996523e-05,
+            -0.0008494378326503519,
+            -0.00043894068505305397,
+            -0.01564092963716047,
+            -0.002575799016265285,
+            -0.0031793459696180916,
+            -0.00041356722783968754,
+            -0.0008114577606967503,
+            -0.00029414957285332305,
+            -0.030615167051688007,
+            -0.005978424596229144,
+            -0.00806728535144204,
+            -8.753779283430487e-05,
+            -0.0006163636811345402,
+            -0.0004030026558808628
+        ],
+        "q10": [
+            -6.612448457004962,
+            0.002317839523299708,
+            0.003698064069427658,
+            -0.22281040468547808,
+            -0.009451794787334544,
+            -0.12034071109141543,
+            -0.5968414033495749,
+            0.00037327952877264683,
+            0.00409826831264526,
+            -0.16022013839539914,
+            -0.0021410878211650425,
+            -0.016292560843612282,
+            -0.018390544750356907,
+            -0.001814935894117808,
+            -0.0013838241458918614,
+            5.2229448725103195e-05,
+            -0.0004651632272935643,
+            -0.0002828846968525773,
+            -0.014766942275294515,
+            -0.003985624257621743,
+            0.0021026262270894113,
+            0.00019655275324502428,
+            -0.0004982963858724575,
+            -0.0005079787003033704,
+            -0.011392962073475994,
+            -0.0034201771444356804,
+            -0.0014072971511213369,
+            0.00019870213878892977,
+            -0.0004934925977002888,
+            -0.0003127399818802652,
+            -0.23313174940268364,
+            1.680609031590804e-05,
+            0.009162758478861825,
+            -0.2194643776212291,
+            -0.013630748274068964,
+            -0.004611038087352848,
+            -2.1844317907518658,
+            -0.001425652163013987,
+            0.004111365728194813,
+            -0.0950596279949698,
+            -0.010736189159652142,
+            -0.03441081605672588,
+            -0.0064730367843406755,
+            -0.005066063752085789,
+            -0.0013889047306489923,
+            0.00017563695840924705,
+            -0.0005970928730719077,
+            -0.0003625356369137501,
+            -0.00926657707506224,
+            -0.00065407700034548,
+            -0.000858646523852028,
+            0.00011829549780685587,
+            -0.00046193002767196036,
+            -0.00017391697504696605,
+            -0.019709680235604717,
+            -0.0023436593310738455,
+            -0.005293193699301734,
+            3.2498719841279045e-05,
+            -0.00038529374351783415,
+            -0.00027708815073317474
+        ],
+        "q50": [
+            -0.14738719330096137,
+            0.15149984383034099,
+            0.26734510923839916,
+            -0.0058662386063070785,
+            -0.0004281101344971438,
+            -0.0026418950351472354,
+            0.04433347368071467,
+            0.08891206369943434,
+            0.1185348971219574,
+            -0.0015565052800548885,
+            -5.377714148841961e-05,
+            0.000575218155526138,
+            -0.007756856943362541,
+            0.00025019032458961556,
+            0.0008228622971091073,
+            0.0002760981837941583,
+            -0.0002053124476725626,
+            -0.00019003548685380919,
+            -0.0015922493245401719,
+            -0.000429105888575975,
+            0.005675440834749842,
+            0.0004355826337109322,
+            -0.00030099960864422306,
+            -0.00037698131806305726,
+            0.0002717262461259878,
+            -0.0008960765259484175,
+            0.0006043869910746116,
+            0.0003812943956393808,
+            -0.0002761876867694602,
+            -0.0002252136911795332,
+            0.04267408936578132,
+            0.03597364921219349,
+            0.08145381041228542,
+            -0.0014624108216522759,
+            -0.00045607053599869165,
+            0.0007815604649784856,
+            -0.019031782965365358,
+            0.025890343630516028,
+            0.04748917231678635,
+            -0.00010295287682874358,
+            -0.0005609700012952126,
+            -0.0003128693507163986,
+            0.00022367554240256614,
+            -0.0027060943940994476,
+            0.0006502097898871092,
+            0.0003714978463839695,
+            -0.00023784151085264323,
+            -0.0002666266662564757,
+            -0.0034061189894126235,
+            0.0008333312734364266,
+            0.002032820923565068,
+            0.0003199885488281743,
+            -0.00014788011512170292,
+            -6.418985996263335e-05,
+            -0.011691737901501296,
+            0.000984222805725291,
+            -0.0020906207562240535,
+            0.0001880676230197633,
+            -0.00015537999416198982,
+            -0.00016911491673577447
+        ],
+        "q90": [
+            0.12130531373528497,
+            7.520978234596122,
+            11.483959851192898,
+            -0.00015190302071854943,
+            0.0040102408857297855,
+            0.002204447978804083,
+            1.6428981681742814,
+            6.430122879001076,
+            7.61119186740288,
+            0.0008427809457811359,
+            0.010307662557842434,
+            0.02714865261040385,
+            0.0003161651255348468,
+            0.002747863084690923,
+            0.002854109999200798,
+            0.0005478874312546899,
+            -9.609767665247971e-06,
+            -0.00010616529412720376,
+            0.008167161014525259,
+            0.004118820375246563,
+            0.009961913124915449,
+            0.0006943277757587246,
+            -0.00011373603761312496,
+            -0.0002597927909229593,
+            0.006000677639771328,
+            0.002433440366597371,
+            0.0025961590164898063,
+            0.0005858930382042334,
+            -9.333628201120316e-05,
+            -0.00014078341748327948,
+            1.4378276661905944,
+            7.353165134468512,
+            9.594160257150214,
+            9.658647555482024e-06,
+            0.0005489793681277527,
+            0.03063563709010735,
+            0.1063310260688867,
+            3.487965608248072,
+            5.290922247937507,
+            0.0007357685501062565,
+            0.00016098591466693374,
+            0.0020975147248338535,
+            0.010380058659025871,
+            2.35638756794804e-05,
+            0.0026952416680250764,
+            0.0006695544238866123,
+            -7.377751794571141e-05,
+            -0.0001770657407397709,
+            0.004264008033300985,
+            0.0027515043326238305,
+            0.004821830515695935,
+            0.0006697709136912931,
+            -5.164477048039825e-06,
+            1.9783856409008387e-05,
+            0.0018462405348611969,
+            0.004689187099054263,
+            0.0007725461872899657,
+            0.0004043845746557131,
+            -2.9080788288581592e-05,
+            -6.686925346032353e-05
+        ],
+        "q99": [
+            2.0959228796852516,
+            11.36205531132948,
+            15.55587801018888,
+            0.0003401400143070005,
+            0.015582763362702451,
+            0.034667009503413136,
+            3.444959632255403,
+            10.264520707875924,
+            11.042192420247742,
+            0.0019028683493253296,
+            0.021998724850617473,
+            0.05923232108874607,
+            0.00513123605427524,
+            0.005013791779304281,
+            0.0045188252072695554,
+            0.0007972280504478295,
+            0.0001113332155575706,
+            -4.6615674614811964e-05,
+            0.01572768981041682,
+            0.0083453858098726,
+            0.014108597210212561,
+            0.0009156844117463686,
+            3.672863879504689e-05,
+            -0.00016364558956139902,
+            0.00979053885972762,
+            0.004776080869848109,
+            0.004279372226863858,
+            0.0007658862822336197,
+            3.014209678007588e-05,
+            -8.232093348990144e-05,
+            3.4556469032273966,
+            11.78593002125162,
+            14.830850647906052,
+            0.00045336494241934855,
+            0.0028919712363382174,
+            0.06926978665328618,
+            0.637553068426637,
+            7.365015928832441,
+            9.190926027950313,
+            0.0011958384206061715,
+            0.00750845280287631,
+            0.013668744823984029,
+            0.020227077162428,
+            0.0023395381842296783,
+            0.0044493661383050095,
+            0.0009107481177727511,
+            5.766135498612098e-05,
+            -7.934685484036512e-05,
+            0.14304442640348417,
+            0.016328689812001564,
+            0.040554452242453465,
+            0.000987571379258626,
+            0.0014905209286652673,
+            0.0020782332824745616,
+            0.006204821069481556,
+            0.00826161529440736,
+            0.003254629827195626,
+            0.000627027646972287,
+            6.850409804007792e-05,
+            -8.863539452347677e-06
+        ]
+    },
+    "subtask_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            11
+        ],
+        "mean": [
+            5.255083051898819
+        ],
+        "std": [
+            3.708542403918261
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            -1.0000000000000002e-10
+        ],
+        "q10": [
+            -1.0000000000000002e-10
+        ],
+        "q50": [
+            5.218932688998282
+        ],
+        "q90": [
+            10.07197266799639
+        ],
+        "q99": [
+            10.999734501201957
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            58035
+        ],
+        "mean": [
+            29017.5
+        ],
+        "std": [
+            16753.550108857526
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            28561.338888599046
+        ],
+        "q10": [
+            28645.11526683773
+        ],
+        "q50": [
+            29017.331116255435
+        ],
+        "q90": [
+            29389.858802050534
+        ],
+        "q99": [
+            29473.661111400954
+        ]
+    },
+    "observation.state.tcp_pose": {
+        "min": [
+            0.26711755990982056,
+            0.04258605092763901,
+            0.9636762738227844,
+            -1.2094976902008057,
+            1.0734907388687134,
+            -2.0937087535858154,
+            0.2425365447998047,
+            -0.31955865025520325,
+            0.9725910425186157,
+            -0.8145673274993896,
+            0.9908818006515503,
+            -0.1212797611951828
+        ],
+        "max": [
+            0.4770525395870209,
+            0.36111345887184143,
+            1.2025781869888306,
+            1.077874779701233,
+            2.3017165660858154,
+            -0.050021179020404816,
+            0.496138334274292,
+            -0.055262770503759384,
+            1.1829696893692017,
+            1.320939302444458,
+            2.4291810989379883,
+            1.749508023262024
+        ],
+        "mean": [
+            0.35824522516147217,
+            0.21608760477948694,
+            1.077624532531284,
+            -0.31952905372093976,
+            1.5322566662635633,
+            -1.231732032280597,
+            0.36695060851210953,
+            -0.20943080756762705,
+            1.0726230439258007,
+            0.62388856234208,
+            1.5681507521148421,
+            1.0624689918954495
+        ],
+        "std": [
+            0.033407409024864644,
+            0.06671004415002241,
+            0.05604730503242747,
+            0.6271240764038344,
+            0.2393228283353427,
+            0.3652730340472988,
+            0.04044782451124196,
+            0.05172335844553432,
+            0.03491049940197542,
+            0.43657696080276065,
+            0.29080119951146993,
+            0.3592557761665494
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            0.3150949353670449,
+            0.10483394409009643,
+            0.9828903227293238,
+            -1.1874870706686325,
+            1.2041108147891124,
+            -1.6817840419385692,
+            0.3043623954658815,
+            -0.28137303785983175,
+            0.99082856096866,
+            -0.10538601924358407,
+            1.189440494969146,
+            0.2474493708760982
+        ],
+        "q10": [
+            0.3265442439864734,
+            0.128537155796321,
+            0.9985419791335034,
+            -0.7904645206638498,
+            1.309860535707949,
+            -1.5699233659202325,
+            0.32374435650844313,
+            -0.25573248518489,
+            1.0176301231569413,
+            0.0010858974660565113,
+            1.316539138970772,
+            0.44908740423017396
+        ],
+        "q50": [
+            0.35473374230855725,
+            0.22144817431160635,
+            1.0851538170398725,
+            -0.5864762844179094,
+            1.46716330977628,
+            -1.3584765268120758,
+            0.3644263514216106,
+            -0.22636064319863053,
+            1.0823835944738618,
+            0.7829108967406229,
+            1.4761587373955267,
+            1.1875175442838466
+        ],
+        "q90": [
+            0.3942280487548356,
+            0.2839610047980888,
+            1.1395981802789206,
+            0.6609755788747572,
+            1.8864193881844473,
+            -0.7041315675275629,
+            0.4181525797658072,
+            -0.13232346944689638,
+            1.1053142592222753,
+            0.9790721654249852,
+            2.0494702530971365,
+            1.343015537991712
+        ],
+        "q99": [
+            0.41061226862999617,
+            0.3054298108663152,
+            1.161917773043951,
+            0.731876828209215,
+            2.0320700830079446,
+            -0.5781490871236182,
+            0.43119830377517854,
+            -0.10509529238650847,
+            1.1295099046702985,
+            1.2244646384146394,
+            2.2714110292960052,
+            1.4940042554395494
+        ]
+    },
+    "observation.state.tcp": {
+        "min": [
+            0.26711755990982056,
+            0.04258605092763901,
+            0.9636762738227844,
+            -1.2094976902008057,
+            1.0734907388687134,
+            -2.0937087535858154,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.2425365447998047,
+            -0.31955865025520325,
+            0.9725910425186157,
+            -0.8145673274993896,
+            0.9908818006515503,
+            -0.1212797611951828,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            0.4770525395870209,
+            0.36111345887184143,
+            1.2025781869888306,
+            1.077874779701233,
+            2.3017165660858154,
+            -0.050021179020404816,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.496138334274292,
+            -0.055262770503759384,
+            1.1829696893692017,
+            1.320939302444458,
+            2.4291810989379883,
+            1.749508023262024,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            0.35824522516147217,
+            0.21608760477948694,
+            1.077624532531284,
+            -0.31952905372093976,
+            1.5322566662635633,
+            -1.231732032280597,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.36695060851210953,
+            -0.20943080756762705,
+            1.0726230439258007,
+            0.62388856234208,
+            1.5681507521148421,
+            1.0624689918954495,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            0.033407409024864644,
+            0.06671004415002241,
+            0.05604730503242747,
+            0.6271240764038344,
+            0.2393228283353427,
+            0.3652730340472988,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.04044782451124196,
+            0.05172335844553432,
+            0.03491049940197542,
+            0.43657696080276065,
+            0.29080119951146993,
+            0.3592557761665494,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            0.3150949353670449,
+            0.10483394409009643,
+            0.9828903227293238,
+            -1.1874870706686325,
+            1.2041108147891124,
+            -1.6817840419385692,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            0.3043623954658815,
+            -0.28137303785983175,
+            0.99082856096866,
+            -0.10538601924358407,
+            1.189440494969146,
+            0.2474493708760982,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16,
+            3.999578446212126e-16
+        ],
+        "q10": [
+            0.3265442439864734,
+            0.128537155796321,
+            0.9985419791335034,
+            -0.7904645206638498,
+            1.309860535707949,
+            -1.5699233659202325,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            0.32374435650844313,
+            -0.25573248518489,
+            1.0176301231569413,
+            0.0010858974660565113,
+            1.316539138970772,
+            0.44908740423017396,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15,
+            3.999578446212125e-15
+        ],
+        "q50": [
+            0.35473374230855725,
+            0.22144817431160635,
+            1.0851538170398725,
+            -0.5864762844179094,
+            1.46716330977628,
+            -1.3584765268120758,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            0.3644263514216106,
+            -0.22636064319863053,
+            1.0823835944738618,
+            0.7829108967406229,
+            1.4761587373955267,
+            1.1875175442838466,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            0.3942280487548356,
+            0.2839610047980888,
+            1.1395981802789206,
+            0.6609755788747572,
+            1.8864193881844473,
+            -0.7041315675275629,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            0.4181525797658072,
+            -0.13232346944689638,
+            1.1053142592222753,
+            0.9790721654249852,
+            2.0494702530971365,
+            1.343015537991712,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14,
+            3.599620601590913e-14
+        ],
+        "q99": [
+            0.41061226862999617,
+            0.3054298108663152,
+            1.161917773043951,
+            0.731876828209215,
+            2.0320700830079446,
+            -0.5781490871236182,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            0.43119830377517854,
+            -0.10509529238650847,
+            1.1295099046702985,
+            1.2244646384146394,
+            2.2714110292960052,
+            1.4940042554395494,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14
+        ]
+    },
+    "action": {
+        "min": [
+            0.7879796624183655,
+            -1.1328620910644531,
+            -0.012176158837974072,
+            0.516173243522644,
+            -1.97675621509552,
+            -0.8078027963638306,
+            -0.3648245632648468,
+            0.0,
+            -0.3490658402442932,
+            -0.23543410003185272,
+            -0.28492623567581177,
+            0.0,
+            0.0,
+            -0.14456707239151,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            -0.046584196388721466,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.7634547352790833,
+            -1.1393481492996216,
+            -0.007564558181911707,
+            0.3820054233074188,
+            -1.8002498149871826,
+            -0.8729845285415649,
+            -0.5746073126792908,
+            0.0,
+            -0.3490658402442932,
+            -0.23083214461803436,
+            -0.31503063440322876,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.5607658624649048,
+            -1.1069588661193848,
+            0.45492029190063477,
+            -0.03733536973595619,
+            -0.014706254936754704,
+            -0.06790383160114288,
+            -0.8728349208831787
+        ],
+        "max": [
+            1.3423495292663574,
+            -0.25103500485420227,
+            0.29707908630371094,
+            1.8027905225753784,
+            5.033825815664926e-17,
+            0.34326988458633423,
+            0.6160656809806824,
+            1.4594123363494873,
+            0.0,
+            0.7556132674217224,
+            0.12618058919906616,
+            0.5650897026062012,
+            1.5707963705062866,
+            0.16750210523605347,
+            0.17050665616989136,
+            0.4292275011539459,
+            1.5707963705062866,
+            0.17718523740768433,
+            1.2807644605636597,
+            1.3962633609771729,
+            1.5707963705062866,
+            0.17354220151901245,
+            1.5643360614776611,
+            1.1673109531402588,
+            0.1583068072795868,
+            1.5707963705062866,
+            0.20941239595413208,
+            1.742854356765747,
+            1.3635417222976685,
+            1.2990474700927734,
+            -0.14604678750038147,
+            0.26483625173568726,
+            1.8452727794647217,
+            0.13942180573940277,
+            0.4023079574108124,
+            0.6411064267158508,
+            1.4288201332092285,
+            0.013816289603710175,
+            0.7610780596733093,
+            0.3490658402442932,
+            0.6102371215820312,
+            1.5707963705062866,
+            0.2614178955554962,
+            0.2573522925376892,
+            0.32354435324668884,
+            1.5707963705062866,
+            0.302013099193573,
+            1.1910814046859741,
+            1.177982211112976,
+            1.5707963705062866,
+            0.3111465573310852,
+            1.7453292608261108,
+            1.204788327217102,
+            0.1596299111843109,
+            1.5707963705062866,
+            0.20941239595413208,
+            1.7453292608261108,
+            1.2270694971084595,
+            0.5626834034919739,
+            -1.106863021850586,
+            0.5499943494796753,
+            0.018910305574536324,
+            0.0619853213429451,
+            0.11643481999635696,
+            -0.5999555587768555
+        ],
+        "mean": [
+            1.0554685774301955,
+            -0.7805681837706868,
+            0.04484292107104172,
+            1.3750285938052478,
+            -0.8103588088074397,
+            -0.22976693525464645,
+            0.3698211793994917,
+            1.2370834744759602,
+            -0.268279068412046,
+            0.09917107453367477,
+            -0.07689719115936851,
+            0.3541246222848073,
+            1.2891579751320452,
+            0.06164365821473295,
+            0.010251223232279644,
+            0.41496167240785164,
+            1.5270924698834876,
+            0.15283947984432317,
+            0.6178601886097564,
+            0.8929892797704748,
+            1.5250361390631124,
+            0.0542600907914221,
+            0.8243921266717096,
+            0.8008826057234641,
+            0.14291182165384275,
+            1.53028057634243,
+            0.1914060278295304,
+            0.9664765694807375,
+            0.755980631543131,
+            1.0225098335247509,
+            -0.7927440131938518,
+            0.06962402572339144,
+            1.4139946485048027,
+            -0.6607928090226282,
+            -0.37900275353015445,
+            0.1710140270654589,
+            1.217142393506611,
+            -0.22946267407953644,
+            0.0717253284624654,
+            -0.029479568547175133,
+            0.46631117291978064,
+            1.2251696825783362,
+            0.18456977663988045,
+            0.16827137479506593,
+            0.2540054203814939,
+            1.5010387662158071,
+            0.13874255491665702,
+            0.7217251831288587,
+            0.859523548626318,
+            1.5199037931104113,
+            0.14688758342432173,
+            1.2887518415609458,
+            0.9493619696644043,
+            0.14950299739567535,
+            1.530272410085014,
+            0.16503817003339205,
+            1.1870066388127918,
+            0.7368700330930242,
+            0.5620070977724598,
+            -1.1068712039653268,
+            0.48080326058317147,
+            -0.01091727168691907,
+            0.0179707752760596,
+            0.019408569846173025,
+            -0.8637742256292905
+        ],
+        "std": [
+            0.10370812426003108,
+            0.18773265900824235,
+            0.05617409454378657,
+            0.2276064245751589,
+            0.5948236829123266,
+            0.19171552341810927,
+            0.15412100443438115,
+            0.23237369112565984,
+            0.07123279005971417,
+            0.26764148528089843,
+            0.07507060751779228,
+            0.1058189759555571,
+            0.25503713781774184,
+            0.052913086752803255,
+            0.025220193427420615,
+            0.07669087823600028,
+            0.2413079818769235,
+            0.030669102704824196,
+            0.4192610307093984,
+            0.41071950026448517,
+            0.24419133831166864,
+            0.05346513270791778,
+            0.5573896510731141,
+            0.19973498625512395,
+            0.027893977212858623,
+            0.23331806696403715,
+            0.03742357879028493,
+            0.6345822955210233,
+            0.4968881529102214,
+            0.0770491805223064,
+            0.17335411814987567,
+            0.04645107774750622,
+            0.2419667232423408,
+            0.4602286599724523,
+            0.25279802402883766,
+            0.24273559744874246,
+            0.22261883730429088,
+            0.08450090895672807,
+            0.2164196232787718,
+            0.08247290907463556,
+            0.10139496754323458,
+            0.2369614905335313,
+            0.05187637858371829,
+            0.06437955388301382,
+            0.05049208277972669,
+            0.2683189480368393,
+            0.04568128168751953,
+            0.41824165427456905,
+            0.28304406935337456,
+            0.25435268716614645,
+            0.040456248961857934,
+            0.7392228210278977,
+            0.24968379732038906,
+            0.02912770098418324,
+            0.23336958094845348,
+            0.041963727309398555,
+            0.6850056028006516,
+            0.427189546620461,
+            0.0015413767642287162,
+            0.0007888729256148608,
+            0.018878769099242174,
+            0.012002417031455805,
+            0.01431955085040358,
+            0.03050984161125256,
+            0.039989581634871034
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            0.899554174780117,
+            -1.012453958416744,
+            0.0002473836569143841,
+            0.9547780250153735,
+            -1.7921698036690263,
+            -0.747489615228184,
+            0.14466925415326023,
+            -1.000000013351432e-10,
+            -0.34299026087611184,
+            -0.19666127537973743,
+            -0.20556517071982297,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.053354249233998514,
+            -6.422723389349111e-11,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.0033319182176104393,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            0.9062359042475853,
+            -0.9941084459310396,
+            0.000900353993281966,
+            0.8650472715996126,
+            -1.5002132585278842,
+            -0.7707732630233477,
+            -0.313899081103705,
+            -1.000000013351432e-10,
+            -0.32932742472048754,
+            -0.15742085523968027,
+            -0.18070242062189892,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -9.397268374394341e-11,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            0.5619837390934026,
+            -1.1069166597368874,
+            0.47607958424707963,
+            -0.014691304765215268,
+            0.0005435294645598996,
+            -0.016057476482307938,
+            -0.8726650053184694
+        ],
+        "q10": [
+            0.9491806800419135,
+            -0.9724183990399269,
+            0.005969104105656568,
+            1.0431137178873822,
+            -1.7328849884610156,
+            -0.37904032200792476,
+            0.23580569375852015,
+            1.174163346948192,
+            -0.3216867715064103,
+            -0.14680763264863597,
+            -0.16475519639055708,
+            0.2704636395868307,
+            1.1915992210435247,
+            -0.015860817656743905,
+            0.0017357443994463356,
+            0.42905428379238303,
+            1.5704659321241252,
+            0.14460327700113942,
+            0.12067334250604574,
+            0.5086790485840584,
+            1.5668568282545958,
+            0.013918818773841603,
+            0.17456648404276534,
+            0.6851857454418495,
+            0.1388741917237625,
+            1.5705038979637869,
+            0.18305065269918608,
+            0.27447554131304247,
+            0.21386697170928318,
+            0.9524237057380843,
+            -0.9169999901159139,
+            0.02423210830163971,
+            1.0435592805648481,
+            -1.3810558411534202,
+            -0.5847684159970531,
+            -0.2145112070949231,
+            1.1769803063785251,
+            -0.30372320966857075,
+            -0.09557357270397046,
+            -0.1274336710580286,
+            0.4185245532549724,
+            1.2156887922169324,
+            0.1398196380195952,
+            0.1580639918964717,
+            0.2544209858352324,
+            1.5305875079863314,
+            0.11156359021022455,
+            0.21966361029453652,
+            0.6337189511653238,
+            1.5636851345246336,
+            0.12670106450382357,
+            0.4031370709870373,
+            0.8056143744795553,
+            0.14846399511118388,
+            1.5705038979637869,
+            0.13794024276747374,
+            0.41540256258440256,
+            0.2555709699592358,
+            0.5619893533069177,
+            -1.1068657546582577,
+            0.47738937977214085,
+            -0.013593947453556438,
+            0.014165502799523194,
+            8.554875877869538e-05,
+            -0.8726638070730796
+        ],
+        "q50": [
+            1.0464208332618739,
+            -0.806174573515018,
+            0.03938043171885303,
+            1.4712707334366426,
+            -0.5731541427002498,
+            -0.25054370521771524,
+            0.38737264185944725,
+            1.26931528331363,
+            -0.2887727887107073,
+            0.008258755098263078,
+            -0.07065047579095166,
+            0.36805553753100473,
+            1.3118625303429248,
+            0.07360754819120777,
+            0.002856434050364117,
+            0.42909688568981363,
+            1.570632298414602,
+            0.15602180992411646,
+            0.7185098090455408,
+            1.0396710606089528,
+            1.569870309566605,
+            0.03567233581659168,
+            0.9674570856247368,
+            0.8626895229043139,
+            0.14890219324020249,
+            1.5706338857604536,
+            0.1985527267014451,
+            1.1528490941778473,
+            0.9017916107196657,
+            1.0241402347390927,
+            -0.8593015991993818,
+            0.0686679545976125,
+            1.4780439590899326,
+            -0.4740193666611709,
+            -0.4465550101772982,
+            0.2396673077727126,
+            1.2458986357690662,
+            -0.25179574317060366,
+            -0.001629940080237711,
+            -0.019101430910872418,
+            0.4860159263855708,
+            1.2532392174841172,
+            0.19834158377152872,
+            0.17648736879078117,
+            0.26370755998452144,
+            1.551632588228915,
+            0.14824264719662913,
+            0.7526984838070686,
+            0.8721672734627038,
+            1.5685441226727395,
+            0.15664997611484455,
+            1.3495927801923735,
+            0.9760879339937995,
+            0.15514649098406352,
+            1.5706338857604536,
+            0.17681962006568572,
+            1.2278956183410057,
+            0.7599729604524225,
+            0.5619893802032472,
+            -1.1068657532082014,
+            0.4790448057231444,
+            -0.010762467054921062,
+            0.017350399676288764,
+            0.01947210330580551,
+            -0.8720725747473567
+        ],
+        "q90": [
+            1.1647627726242251,
+            -0.5232048340787256,
+            0.09302626024305302,
+            1.5484141488495315,
+            -0.327905305245351,
+            0.004885398990493449,
+            0.4679953532486935,
+            1.3689347616133092,
+            -0.19153643454100092,
+            0.4965981786046368,
+            -0.002914180618132339,
+            0.4428290952423904,
+            1.4756122938655496,
+            0.10554894072862436,
+            0.024939310725862737,
+            0.4291472760561158,
+            1.5707635560879496,
+            0.168897916672203,
+            0.9669486910807803,
+            1.1722581991980523,
+            1.5707609706812609,
+            0.10472173688397178,
+            1.2495490862672636,
+            0.9162199279542675,
+            0.15481352711451277,
+            1.5707638735571197,
+            0.20711305308693584,
+            1.4509795111101473,
+            1.1353309051551805,
+            1.085605206530882,
+            -0.539068434455991,
+            0.1140612541100951,
+            1.5897578714444485,
+            -0.31605136884423324,
+            0.02202259859898097,
+            0.3832799140450767,
+            1.3406832803362472,
+            -0.11511518035662656,
+            0.4353965716356596,
+            0.04689264684051067,
+            0.5280525771831568,
+            1.3421745644392897,
+            0.213904902178506,
+            0.18171122302595175,
+            0.2679979369130182,
+            1.5707554201473488,
+            0.15845565603736836,
+            0.977032331117716,
+            1.0769817078702122,
+            1.5707608668478534,
+            0.16180941816803993,
+            1.7452509051617229,
+            1.1061416883788548,
+            0.1589278282410427,
+            1.5707638735571197,
+            0.1877269437370979,
+            1.649729336678561,
+            1.0297015850406084,
+            0.5619894070995772,
+            -1.1068657517581457,
+            0.48120458326564686,
+            -0.009230275505390566,
+            0.023754842469314696,
+            0.038740566234447105,
+            -0.8710275938710831
+        ],
+        "q99": [
+            1.2095325742621814,
+            -0.44171449884481123,
+            0.1339558214208076,
+            1.612049748528345,
+            -0.014290946048720816,
+            0.10837426142267374,
+            0.5349250616899388,
+            1.3914722685705423,
+            -2.1189262395218922e-05,
+            0.6309141988720104,
+            0.029296548655841286,
+            0.4562336610395896,
+            1.513508262277273,
+            0.11277963383762625,
+            0.035038282493572576,
+            0.4291706832158208,
+            1.5707930890644528,
+            0.17397278474042874,
+            1.0275364291118751,
+            1.180348629242046,
+            1.5707928305237848,
+            0.14424300867297793,
+            1.2799700033411638,
+            0.9194251966925044,
+            0.1554989889871203,
+            1.57079312081137,
+            0.20941007920556745,
+            1.4860827491166626,
+            1.1629178453693245,
+            1.1534180192843493,
+            -0.3961136091185705,
+            0.1561480167645307,
+            1.6712378853900702,
+            -0.0008795695007428681,
+            0.2287599036081367,
+            0.5287967029847955,
+            1.3717266839257447,
+            0.00017705841971543597,
+            0.6088428504791851,
+            0.09501422687646326,
+            0.5485819353826963,
+            1.3906178296241294,
+            0.21805877636243048,
+            0.1893235366355689,
+            0.2766817616875299,
+            1.5707922754703927,
+            0.23307281861341053,
+            0.9887329856796173,
+            1.1131238682531739,
+            1.5707928201404433,
+            0.21704943875942176,
+            1.7453214252596723,
+            1.1187866603201349,
+            0.15903070414480988,
+            1.57079312081137,
+            0.20940601107278176,
+            1.702039413913992,
+            1.0737754107227977,
+            0.562621798764445,
+            -1.1068631774880333,
+            0.5393713562965259,
+            0.0010814716734686958,
+            0.026397682157103246,
+            0.053406853722032605,
+            -0.6198975127374817
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1290
+        ],
+        "mean": [
+            464.92442621820936
+        ],
+        "std": [
+            274.8656969567547
+        ],
+        "count": [
+            58036
+        ],
+        "q01": [
+            8.76331481725663
+        ],
+        "q10": [
+            92.53969305595409
+        ],
+        "q50": [
+            464.6938002860294
+        ],
+        "q90": [
+            837.2832282687408
+        ],
+        "q99": [
+            921.085537619162
+        ]
+    },
+    "observation.images.tactile_deform": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.8745098039215686
+                ]
+            ],
+            [
+                [
+                    0.8745098039215686
+                ]
+            ],
+            [
+                [
+                    0.8745098039215686
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.0030426945501935464
+                ]
+            ],
+            [
+                [
+                    0.0030426945501935464
+                ]
+            ],
+            [
+                [
+                    0.0030426945501935464
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0013460991829254455
+                ]
+            ],
+            [
+                [
+                    0.0013460991829254455
+                ]
+            ],
+            [
+                [
+                    0.0013460991829254455
+                ]
+            ]
+        ],
+        "count": [
+            522324000
+        ],
+        "q01": [
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ],
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ],
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ],
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ],
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ],
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ],
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ],
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ],
+            [
+                [
+                    -7.907174586700075e-11
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.00012458160190145258
+                ]
+            ],
+            [
+                [
+                    0.00012458160190145258
+                ]
+            ],
+            [
+                [
+                    0.00012458160190145258
+                ]
+            ]
+        ]
+    },
+    "observation.images.head_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3636286176861868
+                ]
+            ],
+            [
+                [
+                    0.35894704948390715
+                ]
+            ],
+            [
+                [
+                    0.3578960648178648
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.005006202443258888
+                ]
+            ],
+            [
+                [
+                    0.004710004811576988
+                ]
+            ],
+            [
+                [
+                    0.00439194056503186
+                ]
+            ]
+        ],
+        "count": [
+            1485721600
+        ],
+        "q01": [
+            [
+                [
+                    0.03127907044318601
+                ]
+            ],
+            [
+                [
+                    0.03125952293044723
+                ]
+            ],
+            [
+                [
+                    0.028835952919578797
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.08896034170133822
+                ]
+            ],
+            [
+                [
+                    0.08559024780576818
+                ]
+            ],
+            [
+                [
+                    0.0824595574120472
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.2564871217196079
+                ]
+            ],
+            [
+                [
+                    0.2539496073631592
+                ]
+            ],
+            [
+                [
+                    0.25263597469969723
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8137684287416869
+                ]
+            ],
+            [
+                [
+                    0.8121388725449583
+                ]
+            ],
+            [
+                [
+                    0.8144717817804459
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.8750986007686398
+                ]
+            ],
+            [
+                [
+                    0.8747664298655603
+                ]
+            ],
+            [
+                [
+                    0.8747008724436353
+                ]
+            ]
+        ]
+    }
+}
\ No newline at end of file
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/subtasks.parquet b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/subtasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2a5747504f10788c546564f33d8e6d54b10fdabb
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/subtasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d11afddd22c064e899da7ea9f1019f04b983871610cff3e7c10654b1f5e26bd0
+size 2227
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/tasks.parquet b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/tasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dce64a0f48ef2b21a72f46245cf659997ec52a74
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/tasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59632a1c3511dbd5445ec4cf6f224b5baab038b451f3db5399410d579d8df959
+size 4714
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/v40_validation.json b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5d3fb7829b71abfac102efc501c13c210663c9e
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 63,
+  "frames": 58036,
+  "video_frames": {
+    "observation.images.head_left": 58036,
+    "observation.images.wrist_left": 58036,
+    "observation.images.wrist_right": 58036,
+    "observation.images.head_right": 58036,
+    "observation.images.tactile_deform": 58036,
+    "observation.images.tactile_raw": 58036
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 63
+}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9db8cefcb715e556ffb7c4a84c33b2f2a06624fe
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a70257d2c6722c0b1d08872715c88730c19e8fce297d0d1664ff232a87d65be
+size 207352639
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..894d3bada125fa628189bc07b9c9d71e7f634da9
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e042ed6448e262635cc1aa42c6450041937f2c7bdce76688b875a1e969e58536
+size 109714032
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1975106a8fbde3061845419e2b5fadf7d106fa1c
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9155b05f0160a93d5baa387219389c5f354435938c2446f91695e8b7bfbae74a
+size 207715778
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-001.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdae3c2abdf7ea9665ed31584c3f4c74770a017b
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742c0e7d9edc63b2ba8cef5d28d40342ff19f9b2cde011245c3264bff279cb4a
+size 109711639
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55db0c4a1da5fd9897e8014b008a506f90bb1c27
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cae5c650a44a49832f64149d0bc5b90784152b130e689dd38fafab33248ef11
+size 13817073
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0936525dcffab756ac8494cbbb67f00ee5a0d1ec
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b393d037fca95e6948c2fa242c9644a8ad90a5fe1163db9e89a0ac195660b551
+size 203183264
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d36fb3ab61ede3d7802cf91912e07d2fbe509c1
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:250da50d393b2c5db2ba8ec146a531ff2e8ab1a86a7449cb34ac6adcac47c385
+size 195822118
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-002.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a774c8411c9fbd640ae3f32da15f969a733589fd
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9485397bbb050339279c0176dc3dfad38c3b36b1e9cc5283c153dee4c89c8ba
+size 208055968
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-003.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae655d1dd72b4e8f33cd1eb7845e0a691fa2b7d3
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbeb715e54fed7229ff36a8df1ed37b496326a8391d0189f57316d682de6270c
+size 199894488
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-004.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e9ebc222975be40a36e68908d23e2f46aacde21
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fa84740e24d4d32bd783f2bc50b6bd0ec4d6da4002a435846cbc7c39b1cfebb
+size 202451808
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-005.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09c34b913f5e27e6e58138fc5216fdee90209cd4
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:634d7e58455fe0251530cb1cc7a88e3fe1fc534f874963d8cc37351dab55a08c
+size 199505385
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-000.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc0ffd55c9e1645cb34a30a533483ca697710b98
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a650137eb1861ba735ca53a583139ad4d623f4bb90ee4bfb28bd12f8a74ed11
+size 207283900
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-001.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a512acc26f0ab59188c7c6e835adcfd7ddee5ac
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fc82d2c4c16fbecda3262efc6b0f8833c27b9853c9e7c1fb3d65ce9999386bd
+size 105235211
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-000.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc7b1aabe8040a61b49593bcfa6515a5d48f053c
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26a8e2c64063b960603a93d361a07f2f94bd5346d25a901f6dc1a9f712dd16de
+size 207050824
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-001.mp4 b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5225c5d913ba9125c86ad1a0325af8342b4b0a47
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_13_38_31_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a06c89ae9de116469d0d05bfeb9fc5410e4b742ecf1f69d661b199a98092a3e
+size 114565781
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..81c23d444a682a4ce41541727c31a37e9a10fb14
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ee90c4f6fad9917ee5a45e28d90793b25f139aa41538934ee1eba6375a3e15
+size 3694443
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8bc69db711866a4d4edb8521c8df7e6d76fd99bb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae84b2615a01cbec9867ba770d46e6acc88e6950c4f414ef73001dd6de1b8f11
+size 3346843
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9ccfd7d4094bcd546e7a8ee8aa1ad45ede43a840
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e7147e45820d3fce259043d965e3fe96503cf4e6af81311bde9346da12ad586
+size 3383110
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bfe7c1d818a0a9a42640655d1df68642452d4bcb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3854afe2c97913ad7c91476aa0a033a7eed9b2012b294c57b39f520496d4b7f3
+size 3286254
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..170e72efd045aaf54534f5a916c534eec9ac3541
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b31a0bd38fb91b9d43e33d1d983e29ed1633fc134e690cde53ecb7228c963f52
+size 3168591
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d97fb1850108b8e9656de75bead37474450ad47e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9439dae7eb05112ae55ef8178155ddc5d708d88f5b9948cbb5d7566b3160b4a
+size 3063273
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..38c7bf75ba665e1624fa9f5a9fdcd4dc537502eb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eb7f55840f11dfc5eadf860be5ce21a83eb56645c0721803b0b2d987e8f9f33
+size 3189299
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..712f98af1a08f456fa28738ad46a671e114a1afa
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aae69ad22f2024d750d161913e07289bb3723bb602428948e1f1b5285fcc184e
+size 4083382
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9aac09a76970a1bfe674e5c9032cbcd5888476a4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5ed44703c5d116ce7642e7e6074ce5bc7b696c37e2ec13c63a640ac22c13938
+size 3194607
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ac88d24890de1485e9d4257e66a912c794e8e19b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b8cc302508f1553ab5439a14ef1c5b110979f5d425c8dee4a65fee4ec811730
+size 3489698
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0078754f29c540fbea24f3963b0f31511e1e4e37
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c375bb55dfe501381eef917a9acffad1059b93c234cf13bee965bb50c6a953e5
+size 3270113
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..516611bb5665825bc0a9ce9d457ddb2c8eaed580
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c202011a0b26dbfad8841f741bab7e033ff08f82369e50daad1ce0bc5a4984ae
+size 3320115
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d7119914911f26386f926be8ac8d2539746daaea
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74da80523a604d96ef9ef56d4814edceaad07322789cacfa6ea67d4546f9c7cf
+size 3818305
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..85d80bbc43a3d0d238664f8991b936093b5cba35
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2944b184bc8e0a0a73ece5eed83a8ddd390b8f7b62eea3083d28fb3960ac8d7
+size 3907823
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..df82598775f0436c7ab67080b1f5c89b55ace5cc
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eff3bbe753bc6e2e46b7a1f85af8799ac418c7a2a3be59d30d543e3fee9d6593
+size 3747217
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..456a1faa09dc74464d4d363c2367013de68318c4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f43e4d7fd6088009aaeea952abf4d76153798987dd94be5733220833c75659d
+size 4040464
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..39173b10a3c07fd46791c78e2b7a71d8ca733d23
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71f78a49be2c26c9d6f1e16b890aebb989c7222cbefdc163bdedb2a93980d96b
+size 3695921
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4354932c7f8817be48d57983dcad785e1dc845be
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:733bf3d90de8d8623738c68dd58484764cd3ba20a43a64afe7d332e2911b494a
+size 4059972
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..22033159668dddf15f204fdeeb57484395af315f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b004d251ff16063d85c948680dda02326828cab222791796ca91583703d514
+size 3224416
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bfa7dfaa7592515a204241bc246a790c700e649a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72df46a8edc1a1c1f23cdd271f35031902f0c736a72bc1d16a5940c588ab6a2
+size 3127237
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..67be422be673a683a1c1be7e1960ccc231919027
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f77d4b9a47c5bc490cd207013f08c502152f83c285818106045840fff2eb1224
+size 3662283
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..993126b7139c6a0c07ebeafe9e0a3e7a46159d47
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c977301eabe7ca030da3ad245a8f3218eaa75a032443ed876413f6efdf72eb40
+size 3945274
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..22cd9638f7600ec33eaa3757e6de36e40b24c4cb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5deb4966b977e25770ecd0408e3f1280279f9dec1bb1afe9a71cfb6efe69c7a2
+size 3555324
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..324c4e01f8c10e0fd9bec1c6215d8a4bf4fb3254
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb781f83c0231267ff2863693567989cae37d2e36631fb9b4614ef383724dd5d
+size 3892153
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3c311b67c255173cc8197fddfaae837b960a0ba9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7808e1d59887a0f7eace39075c55bd2fe467e7466c592c4f05e1fca578c84a00
+size 3761535
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e1a58ef940858e58f55a536d45597ee4f74d8df3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cd4d64124b0802401dd30e4e4c4117caf6a9915592c2c53496e46f186f91eda
+size 3143103
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6b16ee65e2ae6301fd485b65065cfb9416315009
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:856fa438244cdf785b7a0efaf971c31c3c1bb6b2d474943c979cafdf0f290405
+size 3562185
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c8440a0ed2938a05650ef0b17dddddfaeb63de81
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad25a8292220da3dfc0e2ff557f6ba6704d01d42cc58c85b5c5c3c416d74d181
+size 2849627
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a6ee75faae6be34ca8771c297f19748ed376d5f1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62a8acac5e64427c984075300716615efb2c21535ba1844a95f32a0e7bc2905c
+size 3065235
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0e4b36d417e4a1074a25d5f089896a488832f81d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fe871a785fdb89db51c76f3756e0767b701ef312c5c00b93ead07bc532fffe2
+size 2786221
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ecddc930c78afa60ed56ac50197281651365cfc0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15a064012374b310a3e7a37e535e13d3e70265b371d0eea08b9e285f92fcbb74
+size 2964178
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..589a800be36fc9ef8a1dad7ec687e3707dfa6e15
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34e7b7344087006687c172a7c5afb98dc27aaaf1521797804aa82aba1e6323aa
+size 3635563
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2bddbc7b7d6357000f829b842edbb54e2a64fe24
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81babe8b6897ee766b6accb4c615fade751e808f0101174d113debe9d29ef16d
+size 3017739
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7aff88656644e8cf10af036ae3100e0b8d14a80d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b25144b55ecbd7c71d5f72db2f331f627b869c205ae61ee4c57687c059b6416
+size 3261391
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000034.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000034.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dc6ef7ba4d7aefe1f2541bb00382fe5bcbce4f18
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000034.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b73b078b7569394a141078305bf54f943e33d185b1c5fd9c1d05a08586d0b29
+size 2898870
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000035.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000035.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d921cdb8d1ea86cb74e3c6aeef2319731249af38
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000035.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:129dab04778ffeca2f8e49fc1c9aa8ffb47f5ae1f1ed9e509437ec8ea86180c8
+size 3241632
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000036.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000036.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f25f566f64369ce73432bef5cbb0e100f8db5561
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000036.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57246114a03ce9a609c7e7fd161e4bc346f12f1b59fb34e80a0dee97ce101fd7
+size 3114590
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000037.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000037.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1c7ff5005bd3eb16029ff5084747b6c9812e1b6b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000037.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13c29fa8df96ee54f36f84c55ec999cfd68f9ef049f706d127d66b381173354c
+size 3460533
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000038.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000038.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a383205ad56a162901b1bcd87db341e3479d811c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000038.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ccccedab5f0b6c7c2318251778d0fc3677ad793119ee66dfd7203848a972542
+size 3052086
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000039.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000039.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4c13efef572afc63a3d6757a150b786a815eed1f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000039.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e7d3645a82c8d6cec649f46e9628a760e4e9246d8bbcb7075664c1dd7d65c6d
+size 2980866
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000040.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000040.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e7d205d97d6fe3578c836e45b1dcbc26a34bff14
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000040.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ac053f88afaa5248dfa8ae556047f909c41e5eef1ba3512edc00c17ac4aa0b4
+size 3350523
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000041.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000041.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..219d9222ff42e3756389acce799d8008763518cf
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000041.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:924333fa51956e63c546142fb9dc1c4f0cd42df637d8cbe911fc466394ecc1fc
+size 3533982
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000042.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000042.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..90009ceec5e0d03a0cc636d985daa1a85aa3ba7f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000042.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b97e54f7e17d1e0aeddeceb336f52b2e758edd671c9a8f7f45565d987ab4965
+size 3459508
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000043.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000043.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..522e7b7859016757d300f7c0b8486967e903f365
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000043.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4575dfcf482be9b67a4271a803898c1611485e1a9c94e496866712552fd2c42a
+size 3591939
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000044.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000044.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..aa55afdccde5391342ebb709038e767414b3de95
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000044.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5c342ff9eaf9c86d8c8701a9c58a5bf94fc2b60a78aa55e8d85bc83f1785320
+size 3188239
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000045.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000045.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1de45ac6333f1b7881d854fbf1e08877f232fe40
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000045.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b1dfbac43dfceca9b1df12a2cc05ac28660aa91b751ff09844b5cb1fdb4725d
+size 3570052
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000046.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000046.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ae61252d3ad7708a725d4b71ef85a4e06f409ccd
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000046.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:227c08d802430e93353ad049e3d50d02f0b229b9f7559572582db8e3541605d0
+size 3140978
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000047.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000047.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9f596ba24963eae0a5c644a2031ec8f40a31071c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000047.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dded1804c80c79fbdfbc831618edfb53d7cf9fe5bc5f02b67a02a6c31e74890b
+size 3344545
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000048.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000048.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b3d2e3afa3f1ed386ba7cd3df7540ee7a4413798
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000048.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1788f14ed25b3e805f9bb57cecd5a133516d7da78432952a42d46e85b5818182
+size 3675105
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000049.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000049.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1cb9485d7c3b7e4fcd813966638a37246952af4c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000049.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c66f777434d51b1cee1fc0b0db176ceaf7b0fc6d6a1d350db4d1c996bfa8baaa
+size 3004444
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000050.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000050.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b10b001d5c7de6c2cc435bf810c93201012fd27b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000050.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dffb486b4eaa3efbbe72c9f783fb3d2ca3c9a66ac1a3182d801157de695ee78
+size 3841393
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000051.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000051.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..31baecfa6e500f8106045635a0e3090a4c77574b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000051.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4465f96447c578a4209f1b0203267406c6e1607a2878700b8316f58ef0a66bd3
+size 3619763
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000052.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000052.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b50713ca54fdfc11569800babbe8654a426e3734
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000052.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:036789d2d704b04d3cc5d0d1146e6b91b1061368c6b3a1609524edfff5df2438
+size 2802606
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000053.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000053.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b3a05ffec1a94d18670818115cfa7e5a7bd0f6e4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/data/chunk-000/episode_000053.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e146e325e550c9d7391a8a28b56a96b877960b78ea0732a6ac1511197b30a7
+size 3668449
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/annotation_cache.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1c593d920adc8a535ee6af61f0f716cf33718794
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -0,0 +1,54 @@
+{"source_uid": "89abe42bab9fb545", "num_frames": 2804, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right initial upper position without moving."}, {"label": "goal", "start_step": 0, "end_step": 177, "id": "90958719-60a4-48cd-b153-8836877f9e29"}, {"label": "valid", "start_step": 0, "end_step": 2776, "id": "tJeGD8Gk9uZKm8dD5kANA"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden block base, with an open hand approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers close around the nut with slight adjustments to form a grip."}, {"label": "goal", "start_step": 178, "end_step": 322, "id": "2dde4a5d-68d4-49e0-b00e-52c31605fea5"}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to separate it completely from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand moves the lifted green hexagonal block to position it directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers it slightly to nest the block onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand moves the nested green hexagonal block further down the purple peg until it rests stably on the underlying stacked blocks."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly stand toward the front-left white hexagonal block on the table, without contacting the target block."}, {"label": "goal", "start_step": 323, "end_step": 417, "id": "362a945e-c1f7-4b0b-b85d-caceeab786f5"}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the front-left white hexagonal block on the table to establish a grip on the block."}, {"label": "goal", "start_step": 418, "end_step": 602, "id": "e795688d-747d-42dd-acb3-4914277ab180"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 465, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts the block's orientation and position, and lowers it to nest onto the peg over the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white cylindrical block seated on the leftmost purple peg of the wooden assembly rack, opening fingers to separate from the block."}, {"label": "goal", "start_step": 603, "end_step": 742, "id": "fa4694c1-7964-45bc-8c1b-5c570bfeb5cb"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the front-left white hexagonal nut resting on the black table surface, holding fingers slightly open during the approach."}, {"label": "subtasks", "start_step": 652, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal nut, adjusting finger positions and closing fingers around the nut to form a grip."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 743, "end_step": 957, "id": "d8ff0400-cd38-4f9c-903e-db69323b8a0d"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the top of the rod, establishing the assembly alignment."}, {"label": "subtasks", "start_step": 832, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod and lowers it until it rests on the green support block at the base of the rod, supported by the block."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 958, "end_step": 1057, "id": "0a2e1d65-8494-4f51-96ef-3ddfd53dd858"}, {"label": "subtasks", "start_step": 990, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grip on the target white hexagonal nut on the table."}, {"label": "goal", "start_step": 1058, "end_step": 1322, "id": "cfcf39bd-c6c2-44af-b5c9-fe52d262b8de"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it upward to position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses downward on the top of the front white cylindrical peg on the wooden pegboard, pushing the peg down until it sits flush with adjacent pegs."}, {"label": "goal", "start_step": 1323, "end_step": 1432, "id": "3d71d22b-e7d9-482f-b74b-f61abd03e2d6"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the left green hexagonal block on the black table surface, with fingers slightly open as it approaches the target block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions around the left green hexagonal block on the table, gradually closing fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 1433, "end_step": 1572, "id": "b4ef356d-ed65-4d2e-aac2-01797756a3ad"}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1573, "end_step": 1682, "id": "3bbb2b70-367b-42c6-a320-586eb63b4b71"}, {"label": "subtasks", "start_step": 1598, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a grasp on the green hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward from the lower right area of the table to above the purple rod on the wooden assembly."}, {"label": "goal", "start_step": 1683, "end_step": 1847, "id": "55d5e03d-dcc7-4106-88ed-ad1c77700098"}, {"label": "subtasks", "start_step": 1710, "end_step": 1837, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly and moves the nut downward to nest onto the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut nested on the purple rod."}, {"label": "goal", "start_step": 1848, "end_step": 1952, "id": "88df7d0d-4dea-43d4-9224-9229d523ac36"}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves toward the white hexagonal nut adjacent to the wooden base on the table with an open hand, without contacting the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut adjacent to the wooden base to form a grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is completely lifted off the table."}, {"label": "goal", "start_step": 1953, "end_step": 2187, "id": "6f790e4c-174b-4360-8b6c-9f8917d511de"}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and toward the wooden block to position it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple vertical rod, until the rod inserts into the nut to form an assembly connection."}, {"label": "subtasks", "start_step": 2062, "end_step": 2167, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod until the nut rests stably on the existing white nut below on the wooden block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the light purple cylinder, moves it downward to insert into the corresponding hole on the wooden block rack, opens fingers to release the seated cylinder."}, {"label": "goal", "start_step": 2188, "end_step": 2277, "id": "deda3516-d1a2-456a-98d3-e3d3ebc0878d"}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, closing fingers to adjust contact points and establish a grasp."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table and lifts it upward until the block is fully separated from the table surface."}, {"label": "goal", "start_step": 2278, "end_step": 2442, "id": "8a6ba668-93ef-428f-9b8f-a7a25a9ecf1e"}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward, moving it to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod on the wooden rack, positioning it to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the white bottle with a purple cap, positions it into the empty slot on the wooden holder, fingers open to release the bottle."}, {"label": "goal", "start_step": 2443, "end_step": 2542, "id": "ec2e2dd7-5b17-4541-8014-2601ca98b0b5"}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward toward the green square block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand fingers close around the green square block on the table, making slight positional adjustments to form a grip."}, {"label": "goal", "start_step": 2543, "end_step": 2722, "id": "99c1ab6a-ebc5-45fa-922b-9c40399b0cd3"}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped green square block completely off the dark table surface, transporting it upward and toward the wooden rack to position it directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 2588, "end_step": 2699, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand slightly rotates its wrist to align the central hole of the green square block with the top of the purple-topped bottle on the wooden rack, lowering the block to fit it securely onto the bottle top to complete the assembly."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the assembled green square block on top of the purple-topped bottle without any visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 2722, "end_step": 2729, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the green square block seated securely on top of the purple-topped bottle."}, {"label": "home", "start_step": 2777, "end_step": 2803, "id": "xdexDvTgYCsKtL5I-HumX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right initial upper position without moving."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden block base, with an open hand approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers close around the nut with slight adjustments to form a grip."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to separate it completely from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand moves the lifted green hexagonal block to position it directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers it slightly to nest the block onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand moves the nested green hexagonal block further down the purple peg until it rests stably on the underlying stacked blocks."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly stand toward the front-left white hexagonal block on the table, without contacting the target block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the front-left white hexagonal block on the table to establish a grip on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 465, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts the block's orientation and position, and lowers it to nest onto the peg over the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white cylindrical block seated on the leftmost purple peg of the wooden assembly rack, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the front-left white hexagonal nut resting on the black table surface, holding fingers slightly open during the approach."}, {"label": "subtasks", "start_step": 652, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal nut, adjusting finger positions and closing fingers around the nut to form a grip."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the top of the rod, establishing the assembly alignment."}, {"label": "subtasks", "start_step": 832, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod and lowers it until it rests on the green support block at the base of the rod, supported by the block."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grip on the target white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it upward to position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses downward on the top of the front white cylindrical peg on the wooden pegboard, pushing the peg down until it sits flush with adjacent pegs."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the left green hexagonal block on the black table surface, with fingers slightly open as it approaches the target block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions around the left green hexagonal block on the table, gradually closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a grasp on the green hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward from the lower right area of the table to above the purple rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1837, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly and moves the nut downward to nest onto the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut nested on the purple rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves toward the white hexagonal nut adjacent to the wooden base on the table with an open hand, without contacting the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut adjacent to the wooden base to form a grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is completely lifted off the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and toward the wooden block to position it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple vertical rod, until the rod inserts into the nut to form an assembly connection."}, {"label": "subtasks", "start_step": 2062, "end_step": 2167, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod until the nut rests stably on the existing white nut below on the wooden block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the light purple cylinder, moves it downward to insert into the corresponding hole on the wooden block rack, opens fingers to release the seated cylinder."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, closing fingers to adjust contact points and establish a grasp."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward, moving it to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod on the wooden rack, positioning it to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the white bottle with a purple cap, positions it into the empty slot on the wooden holder, fingers open to release the bottle."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward toward the green square block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand fingers close around the green square block on the table, making slight positional adjustments to form a grip."}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped green square block completely off the dark table surface, transporting it upward and toward the wooden rack to position it directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 2588, "end_step": 2699, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand slightly rotates its wrist to align the central hole of the green square block with the top of the purple-topped bottle on the wooden rack, lowering the block to fit it securely onto the bottle top to complete the assembly."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the assembled green square block on top of the purple-topped bottle without any visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 2722, "end_step": 2729, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the green square block seated securely on top of the purple-topped bottle."}], "episode_index": 0}
+{"source_uid": "87862c92f1bf7d85", "num_frames": 2542, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward from the right side towards the green hexagonal block in front of the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "9210aa7c-adbf-4dbf-92ad-f335aafb1699"}, {"label": "valid", "start_step": 0, "end_step": 2511, "id": "QbzfP3CdZGLk0-blUrpJE"}, {"label": "subtasks", "start_step": 90, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 201, "end_step": 345, "id": "10755c2f-6d9e-4f25-8334-6028e769dc1a"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the backmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the backmost purple rod by inserting the rod into the hole of the green block."}, {"label": "goal", "start_step": 346, "end_step": 480, "id": "a51f5583-f44a-4c73-b616-bbdeee4382dc"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the top of the target post on the rack."}, {"label": "goal", "start_step": 481, "end_step": 660, "id": "ebfc547e-53a5-47b9-9bca-6ed4ef06bc5a"}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the target post and presses it down to fit onto the post."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal object and slightly moves upward."}, {"label": "goal", "start_step": 661, "end_step": 755, "id": "0d464850-438c-4e56-864e-7dad79893084"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal part on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal part on the black tabletop to establish grip."}, {"label": "goal", "start_step": 756, "end_step": 920, "id": "fac145b4-286a-4617-b205-7d03f6cc5970"}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 818, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the leftmost purple post on the wooden rack, adjusting to fit it firmly in place."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the leftmost pillar of the wooden base."}, {"label": "goal", "start_step": 921, "end_step": 1020, "id": "2575b858-30cd-42bb-8004-362d2bbb5834"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple vertical post on the wooden base."}, {"label": "goal", "start_step": 1021, "end_step": 1165, "id": "486ac7fe-830b-4632-991a-e898397d94f0"}, {"label": "subtasks", "start_step": 1050, "end_step": 1101, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1102, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to fix it in place."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and separates from the block."}, {"label": "goal", "start_step": 1166, "end_step": 1260, "id": "d3a26164-f148-49d9-89d0-46452ebffba3"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 1261, "end_step": 1415, "id": "acdc865c-2c75-4d16-b5a4-3ce0c94dadc1"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the target column on the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target column and inserts it downwards onto the column."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the corresponding post of the wooden base."}, {"label": "goal", "start_step": 1416, "end_step": 1520, "id": "e6d313fe-8c5f-413a-bc7e-2e1b07d837d7"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the table surface, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1521, "end_step": 1700, "id": "62448d16-6a5d-4b1b-98e5-9dc40dca1dc5"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with pillars."}, {"label": "subtasks", "start_step": 1560, "end_step": 1687, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block which is mounted on the pillar."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the green base on the wooden board and releases the grip."}, {"label": "goal", "start_step": 1701, "end_step": 1785, "id": "3027f5bd-23d5-4834-a7ee-26049a21cc87"}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block located on the black table to the right of the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "goal", "start_step": 1786, "end_step": 1960, "id": "38148021-4c0c-48bb-9e1b-e1d0ff42b550"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 1961, "end_step": 2070, "id": "c1e6ac8e-ffa5-4f8d-8c64-713950bdf8dc"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish stable grasp."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "goal", "start_step": 2071, "end_step": 2220, "id": "f6140563-072c-4981-a442-d0fcb5bfa0e0"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hollow block towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2219, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hollow block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hollow block after placing it on the peg."}, {"label": "goal", "start_step": 2221, "end_step": 2315, "id": "f12dc077-3ab6-45fe-a424-ff9f099dc77e"}, {"label": "subtasks", "start_step": 2235, "end_step": 2241, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white bottle onto the wooden rack and releases it."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2324, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "goal", "start_step": 2316, "end_step": 2460, "id": "9145581f-eab0-40ab-9640-8fb9530d2fcb"}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the upper position of the target white tube on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white tube with a purple top by lowering the block to fit over the tube."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the white tube."}, {"label": "home", "start_step": 2512, "end_step": 2541, "id": "zo-f4TWGXbERD34LOMnDv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward from the right side towards the green hexagonal block in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 90, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the backmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the backmost purple rod by inserting the rod into the hole of the green block."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the top of the target post on the rack."}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the target post and presses it down to fit onto the post."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal object and slightly moves upward."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal part on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal part on the black tabletop to establish grip."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 818, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the leftmost purple post on the wooden rack, adjusting to fit it firmly in place."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the leftmost pillar of the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1101, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1102, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to fix it in place."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and separates from the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the target column on the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target column and inserts it downwards onto the column."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the corresponding post of the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the table surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with pillars."}, {"label": "subtasks", "start_step": 1560, "end_step": 1687, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block which is mounted on the pillar."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the green base on the wooden board and releases the grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block located on the black table to the right of the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish stable grasp."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hollow block towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2219, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hollow block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hollow block after placing it on the peg."}, {"label": "subtasks", "start_step": 2235, "end_step": 2241, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white bottle onto the wooden rack and releases it."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2324, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the upper position of the target white tube on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white tube with a purple top by lowering the block to fit over the tube."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the white tube."}], "episode_index": 1}
+{"source_uid": "594c0feeba53e1a3", "num_frames": 2531, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: idle: Right hand remains empty at the right initial position with no obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 235, "id": "bda45aff-5d68-4987-8289-6eec4096cc6d"}, {"label": "valid", "start_step": 0, "end_step": 2500, "id": "3Eery6Iq5oZ_YLE2s_l8X"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block in front-left of the wooden block stand, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close and make small adjustments to establish a stable grip on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around and securely grasp the green hexagonal block resting on the adjacent green base."}, {"label": "goal", "start_step": 236, "end_step": 385, "id": "57ce64e9-e4f3-4cb2-a7ee-d5e2e3001529"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the green base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the wooden rack to position it directly above the target purple rod."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden rack and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod of the wooden rack without observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: press: Right hand presses the top white hexagonal block on the purple peg of the wooden assembly stand vertically downward to seat it firmly on the peg."}, {"label": "goal", "start_step": 386, "end_step": 475, "id": "461187a7-148b-4a93-ac4b-d84dc675f21d"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and leftward away from the wooden stand toward the loose white hexagonal block on the black table surface, staying out of contact with the target block during movement."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand contacts the target loose white hexagonal block on the table, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "goal", "start_step": 476, "end_step": 610, "id": "6aabb276-8e99-48d5-baaf-d6f76791fd88"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it downward to fit securely onto the green base mounted on the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, breaking contact with the nut by the end of the segment."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the purple rod on the wooden base and releases the stably placed block."}, {"label": "goal", "start_step": 611, "end_step": 690, "id": "6c45208a-9792-42be-b087-66ac412516de"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers closing and adjusting to establish a grasp on the block."}, {"label": "goal", "start_step": 691, "end_step": 900, "id": "40688ee2-6413-4187-92ef-2a5a6c0a3e2f"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod on the wooden block, and lowers the nut to fit onto the rod with slight position adjustments."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward from above the wooden block stand toward the white hexagonal block placed in front of the stand."}, {"label": "goal", "start_step": 901, "end_step": 1020, "id": "8d87fed4-30a4-4b6d-81b5-144ea4a76997"}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 1021, "end_step": 1195, "id": "2b923c6d-5fbd-4812-8958-f353e3652e52"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, transporting it upward and backward to position it directly above the target purple vertical peg on the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target purple vertical peg, lowering the nut along the peg to fit it into the assembly position on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block."}, {"label": "goal", "start_step": 1196, "end_step": 1290, "id": "bd0f53e7-3a0b-4455-b3a9-b28002a053bc"}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 1291, "end_step": 1465, "id": "18fa056f-cdf5-4069-af0d-46ae596269f2"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden base, moves the block downward to fit it onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release_retreat: Right hand opens fingers to release the green hexagonal block secured on the peg, moves the empty hand downward away from the assembly area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand, empty, moves downward from the area near the wooden block assembly toward the green hexagonal block on the black table surface with an open hand."}, {"label": "goal", "start_step": 1466, "end_step": 1530, "id": "dbfc2f3a-0c31-405a-b689-32af1ce57f5b"}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 1531, "end_step": 1735, "id": "95902023-bd6e-49d9-8ac6-91b9324cdbfb"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod, makes small positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves down and right from the stacked block assembly, approaching the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1736, "end_step": 1835, "id": "4bf86553-2e3f-4bc9-a612-139297b4ae8e"}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the white hexagonal block, fingers close around the block with slight adjustments to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully raised off the table."}, {"label": "goal", "start_step": 1836, "end_step": 1965, "id": "2ffcb2c0-5391-4a10-9bc7-87a9befecfc8"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the empty mounting position on the wooden assembly board."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty mounting post on the wooden assembly board, adjusting its position slightly to fit the block securely onto the post."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block, separating the fingers from the block surface."}, {"label": "goal", "start_step": 1966, "end_step": 2045, "id": "baee8252-61d2-42f3-a27d-a041662cf971"}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the dark table surface, with fingers open approaching the target object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish initial contact and grip."}, {"label": "goal", "start_step": 2046, "end_step": 2195, "id": "bf82db7e-c2d2-459a-9d1b-3e164c5f8aff"}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without any observable movement."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is completely off the dark table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the held white hexagonal block toward the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2108, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to separate from the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 2196, "end_step": 2285, "id": "b05e5e59-0b28-4bb7-9e40-7eeffd080bc0"}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward from the wooden block holder area toward the small green block on the black table surface, with fingers extended as it approaches the target block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the small green block on the table, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green cubic block stationary on the dark gray table surface with no visible movement."}, {"label": "goal", "start_step": 2286, "end_step": 2445, "id": "49c9fbf9-3d19-4bb8-ba38-7adf9b9825b1"}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the green cubic block off the dark gray table surface and moves it upward and leftward to the position directly above the white pump bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2340, "end_step": 2444, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand holds the green cubic block and makes slight positional adjustments to align the block's central hole with the top of the white pump bottle."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand lowers the aligned green cubic block onto the white pump bottle cap and opens its fingers to release the block."}, {"label": "home", "start_step": 2501, "end_step": 2530, "id": "h1SpKUJcCIC_q9dcHE8lb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: idle: Right hand remains empty at the right initial position with no obvious movement."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block in front-left of the wooden block stand, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close and make small adjustments to establish a stable grip on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around and securely grasp the green hexagonal block resting on the adjacent green base."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the green base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the wooden rack to position it directly above the target purple rod."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden rack and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod of the wooden rack without observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: press: Right hand presses the top white hexagonal block on the purple peg of the wooden assembly stand vertically downward to seat it firmly on the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and leftward away from the wooden stand toward the loose white hexagonal block on the black table surface, staying out of contact with the target block during movement."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand contacts the target loose white hexagonal block on the table, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it downward to fit securely onto the green base mounted on the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, breaking contact with the nut by the end of the segment."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the purple rod on the wooden base and releases the stably placed block."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers closing and adjusting to establish a grasp on the block."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod on the wooden block, and lowers the nut to fit onto the rod with slight position adjustments."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward from above the wooden block stand toward the white hexagonal block placed in front of the stand."}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, transporting it upward and backward to position it directly above the target purple vertical peg on the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target purple vertical peg, lowering the nut along the peg to fit it into the assembly position on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden base, moves the block downward to fit it onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release_retreat: Right hand opens fingers to release the green hexagonal block secured on the peg, moves the empty hand downward away from the assembly area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand, empty, moves downward from the area near the wooden block assembly toward the green hexagonal block on the black table surface with an open hand."}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod, makes small positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves down and right from the stacked block assembly, approaching the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the white hexagonal block, fingers close around the block with slight adjustments to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully raised off the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the empty mounting position on the wooden assembly board."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty mounting post on the wooden assembly board, adjusting its position slightly to fit the block securely onto the post."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the dark table surface, with fingers open approaching the target object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish initial contact and grip."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without any observable movement."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is completely off the dark table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the held white hexagonal block toward the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2108, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to separate from the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward from the wooden block holder area toward the small green block on the black table surface, with fingers extended as it approaches the target block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the small green block on the table, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green cubic block stationary on the dark gray table surface with no visible movement."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the green cubic block off the dark gray table surface and moves it upward and leftward to the position directly above the white pump bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2340, "end_step": 2444, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand holds the green cubic block and makes slight positional adjustments to align the block's central hole with the top of the white pump bottle."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand lowers the aligned green cubic block onto the white pump bottle cap and opens its fingers to release the block."}], "episode_index": 2}
+{"source_uid": "08a0eebf206528ab", "num_frames": 2493, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its pose at the left side of the table, with wrist slightly rotating and fingers gradually spreading, no object contacted. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut at the bottom left of the wooden board, without touching the object."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "27a87c5a-4f80-4723-8aa2-dbfcb052916d"}, {"label": "valid", "start_step": 0, "end_step": 2462, "id": "03G-W7dcTh5eLrltfsIoq"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut at the bottom left of the wooden board, without touching the object."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal nut on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table near the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 171, "end_step": 320, "id": "00ba372a-3510-4995-b729-8944ae2ef9d4"}, {"label": "subtasks", "start_step": 188, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it toward the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green block onto the leftmost purple peg, then releases the green block."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white block on top of the leftmost peg and grasps it."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the top of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block downward along the leftmost purple peg to adjust its position."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 321, "end_step": 415, "id": "d418adb5-3948-4cea-b724-b842e180c90f"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 416, "end_step": 560, "id": "d0cf0f28-e59a-4376-9bb8-5b0f896cf543"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 561, "end_step": 705, "id": "c947ae2d-57a3-4e3a-b07d-2ab71c822366"}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface, keeping empty."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part above the black table surface without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 706, "end_step": 875, "id": "65802021-b2b5-4edb-a75f-5485f93bb852"}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward toward the topmost purple rod on the pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the topmost purple rod and lowers it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the topmost purple rod without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the stacking set, with fingers opening and moving upward slightly."}, {"label": "goal", "start_step": 876, "end_step": 1000, "id": "16f0ae7a-4fec-4d17-ad46-6e91bacce9b6"}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking set toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table surface, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1001, "end_step": 1130, "id": "a26e383e-2a4d-4c41-aa0d-4d04a3606950"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1131, "end_step": 1225, "id": "ac24ad69-8a82-4e4c-a6be-aa245e0c7772"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1226, "end_step": 1380, "id": "54a74065-52b3-473a-a3c9-d0f0c38a5100"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple rod to push it into position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal part on the table, with no contact to the target part."}, {"label": "goal", "start_step": 1381, "end_step": 1475, "id": "262d55af-087a-4ec6-b3e8-8f285033fed5"}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1476, "end_step": 1670, "id": "7cfdd21b-07cb-4174-9c03-ad593fffdd24"}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the top of the purple rod on the wooden rack, aligning the inner hole with the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal part downward along the purple rod until it is supported by the green block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "goal", "start_step": 1671, "end_step": 1770, "id": "0d19b4da-4dba-4893-9955-4aa5099ebb99"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1771, "end_step": 1895, "id": "2b6daefa-5615-4480-9af6-af2fdf9ff059"}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal column from the table and moves it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hollow hexagonal column onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1838, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal column on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases it."}, {"label": "goal", "start_step": 1896, "end_step": 1990, "id": "a9d65642-b3c0-4ce1-9419-0be7d930003f"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1991, "end_step": 2155, "id": "5835fd82-c08a-4fa9-82ea-54ef00dcc0e5"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod through the block's central hole."}, {"label": "subtasks", "start_step": 2048, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white cylinder on the wooden base, moving the cylinder downward slightly."}, {"label": "goal", "start_step": 2156, "end_step": 2260, "id": "ff8c3909-5df6-4d5b-a765-f6a194ee4a14"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic object with a square hole on the dark table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green cubic object on the dark table surface."}, {"label": "goal", "start_step": 2261, "end_step": 2415, "id": "5ce7e1a5-7b0f-482b-8103-3c79093d3d0c"}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it left-upward to the top of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2407, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the rightmost white bottle and fits it down onto the bottle, with minor position adjustments during the process."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the bottle, with fingers opening and separating from the ring."}, {"label": "home", "start_step": 2463, "end_step": 2492, "id": "zIRdvVOwSUN2Bq7SqVTUk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its pose at the left side of the table, with wrist slightly rotating and fingers gradually spreading, no object contacted. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut at the bottom left of the wooden board, without touching the object."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut at the bottom left of the wooden board, without touching the object."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal nut on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table near the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it toward the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green block onto the leftmost purple peg, then releases the green block."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white block on top of the leftmost peg and grasps it."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the top of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block downward along the leftmost purple peg to adjust its position."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface, keeping empty."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part above the black table surface without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward toward the topmost purple rod on the pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the topmost purple rod and lowers it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the topmost purple rod without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the stacking set, with fingers opening and moving upward slightly."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking set toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table surface, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple rod to push it into position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal part on the table, with no contact to the target part."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the top of the purple rod on the wooden rack, aligning the inner hole with the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal part downward along the purple rod until it is supported by the green block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal column from the table and moves it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hollow hexagonal column onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1838, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal column on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases it."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod through the block's central hole."}, {"label": "subtasks", "start_step": 2048, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white cylinder on the wooden base, moving the cylinder downward slightly."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic object with a square hole on the dark table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green cubic object on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it left-upward to the top of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2407, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the rightmost white bottle and fits it down onto the bottle, with minor position adjustments during the process."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the bottle, with fingers opening and separating from the ring."}], "episode_index": 3}
+{"source_uid": "e2fa101bb0668ac6", "num_frames": 2453, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from initial position to home position and stops. | Right hand: reach: Right hand moves towards the green hexagonal block on the left side of the table."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "b8a74cd6-8aeb-475b-a120-2fba3b956b40"}, {"label": "valid", "start_step": 0, "end_step": 2428, "id": "wE0zbCUpMsi8lAk01MJtY"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 90, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 196, "end_step": 370, "id": "fee7a782-b11b-4a90-8d60-6c277b68e0c9"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple rod."}, {"label": "subtasks", "start_step": 240, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod by fitting it onto the rod."}, {"label": "goal", "start_step": 371, "end_step": 475, "id": "7e9c7240-ae46-4b91-8cbf-17c8bf2435f2"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 476, "end_step": 655, "id": "658f6da4-6d29-4852-8e06-40a6f79aa3a5"}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 656, "end_step": 755, "id": "06deba0f-cb92-44f6-a57f-3d93bb777384"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts its finger position to approach and prepare to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 756, "end_step": 900, "id": "e50fbbab-f1cf-407b-befc-9f886885014a"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix its position."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white annular object onto the purple post of the wooden base."}, {"label": "goal", "start_step": 901, "end_step": 1005, "id": "cd015862-e9ce-45fb-a356-73ef29e5aa03"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white annular object on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white annular object on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1006, "end_step": 1150, "id": "2c7e8458-eab8-4ab6-b6d3-0e5351d4c202"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1151, "end_step": 1230, "id": "f1e0199b-b246-4498-b2ed-862a47f31599"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand grasps the green block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1231, "end_step": 1395, "id": "ece604f8-7357-48ea-a383-2f6a4a07affe"}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden base."}, {"label": "goal", "start_step": 1396, "end_step": 1510, "id": "6f8b0672-56a9-4c76-80da-8cf366a74f9d"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1511, "end_step": 1660, "id": "273240b1-c176-46c1-9436-d8699a391ff7"}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and transports it to the upper area of the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white cylindrical part with the corresponding post on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base's peg and releases the block."}, {"label": "goal", "start_step": 1661, "end_step": 1750, "id": "46e02487-6012-4121-939f-5dec79602cce"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1751, "end_step": 1870, "id": "03950329-f06a-4e2d-9a4b-1b672a7a0230"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it to the area above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple rod on the wooden base and releases contact with the block."}, {"label": "goal", "start_step": 1871, "end_step": 1985, "id": "be50ad61-924c-4115-91f3-5f48e39564d6"}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: retreat: Right hand moves away from the wooden base assembly area."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface until it is completely off the surface."}, {"label": "goal", "start_step": 1986, "end_step": 2140, "id": "ffaa02d5-9bc7-4a67-9111-d6aa79b442f0"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by pressing it down to fit in position."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp_release: Right hand adjusts its grasp on and releases the white cylinder on the wooden tray."}, {"label": "goal", "start_step": 2141, "end_step": 2220, "id": "d82ed3ca-7fe7-4326-832c-8bfac368fe5a"}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2221, "end_step": 2370, "id": "9c3d0e14-b5a7-4cc8-bd9e-9fbbe89bf811"}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the green block onto the rightmost white bottle and then releases the block."}, {"label": "home", "start_step": 2429, "end_step": 2452, "id": "Oiz1FZV46HGH-BTLROWlB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from initial position to home position and stops. | Right hand: reach: Right hand moves towards the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 90, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple rod."}, {"label": "subtasks", "start_step": 240, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts its finger position to approach and prepare to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix its position."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white annular object onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white annular object on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white annular object on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand grasps the green block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and transports it to the upper area of the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white cylindrical part with the corresponding post on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base's peg and releases the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it to the area above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple rod on the wooden base and releases contact with the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: retreat: Right hand moves away from the wooden base assembly area."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface until it is completely off the surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by pressing it down to fit in position."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp_release: Right hand adjusts its grasp on and releases the white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the green block onto the rightmost white bottle and then releases the block."}], "episode_index": 4}
+{"source_uid": "d56360eee81c3979", "num_frames": 2322, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward and slightly inward from its initial outer left position to the front left resting position, with fingers adjusting from a fully extended posture to a slightly curved, relaxed posture. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block near the wooden block stand, with fingers extended, and does not contact the block during this movement."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "9a1941fc-e769-49a0-9c9e-4205f8bc17c7"}, {"label": "valid", "start_step": 0, "end_step": 2290, "id": "8mPqGta9T16Vb805DzJdN"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block near the wooden block stand, with fingers extended, and does not contact the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block resting on the table surface, fingers close around the block and make small positional adjustments to form a grip, while the block remains supported by the table."}, {"label": "goal", "start_step": 156, "end_step": 305, "id": "add16947-016d-43e7-a05a-f7d1a7dc3395"}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the left purple peg of the wooden stand, with fingers opening to release the seated block."}, {"label": "goal", "start_step": 306, "end_step": 385, "id": "c3a4cae0-7f3d-4ffc-81d5-248c7e1a32ce"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the table surface in front of the wooden stand."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 386, "end_step": 555, "id": "0905455f-96dd-4a3a-a53e-d0abe4e600ea"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it to the position directly above the target purple post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the target purple post, and adjusts the nut's position to fit it down onto the post."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold_release: Right hand holds the white cylindrical block on the wooden rack and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 556, "end_step": 630, "id": "8d69eb61-ee1b-418c-a990-758c4e65761d"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "goal", "start_step": 631, "end_step": 775, "id": "74586be9-4db1-44f5-80c3-ca56a0777799"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the white hexagonal block upward and rightward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden stand and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand places the white cylindrical block onto the corresponding peg of the wooden assembly stand, presses it down to secure it and releases the block."}, {"label": "goal", "start_step": 776, "end_step": 855, "id": "501da871-f72c-434e-837e-5c7e2eea575f"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned next to the wooden assembly stand on the table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a firm grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift: Right hand firmly holds the white hexagonal block resting on the dark table surface, lifts the block vertically upward until it is no longer in contact with the table surface."}, {"label": "goal", "start_step": 856, "end_step": 1055, "id": "7e1bccba-8f6e-43f5-8854-f16929602ac9"}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air, moving it toward the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod, making small wrist and finger adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the green hexagonal block on the table, staying empty."}, {"label": "goal", "start_step": 1056, "end_step": 1125, "id": "b2846edc-9a7b-4eca-8ed3-98733e5b9643"}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the target green hexagonal block on the table, making contact and adjusting to form a stable grasp."}, {"label": "goal", "start_step": 1126, "end_step": 1305, "id": "dac0f109-3f8e-4d6d-8fe0-39b6011da0f8"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the position above the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1178, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post on the wooden stand, lowers the block and makes small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the topmost white cylindrical block on the wooden assembly rack."}, {"label": "goal", "start_step": 1306, "end_step": 1395, "id": "e11dffa6-4b7e-4b5a-acbd-01541ee041aa"}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward from the wooden assembly rack toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 1396, "end_step": 1555, "id": "2b3b395d-3a3f-4f80-9e85-a3e2254680cb"}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the stacked wooden block set toward the white hexagonal nut placed on the table to the right front of the blocks, keeping fingers open while approaching the target object."}, {"label": "goal", "start_step": 1556, "end_step": 1625, "id": "4c54cf35-55b8-4f71-bbd6-5aed0bc76cfc"}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table to form a grip on the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 1626, "end_step": 1775, "id": "02be3310-43f3-4bdd-9bd9-ed9116591688"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits it onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the seated position on the purple rod and opens fingers to release the nut."}, {"label": "goal", "start_step": 1776, "end_step": 1885, "id": "b1b99daa-c617-4ad2-b1a4-41398e5c3226"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary adjacent to the right side of the wooden block rack, with no visible movement or contact with grasped objects."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table, fingers held extended, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually closing around the nut to adjust grip position, with no stable grasp yet achieved."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the right area of the black table surface without moving."}, {"label": "goal", "start_step": 1886, "end_step": 2010, "id": "311f10ef-bf94-4752-9aff-8ab777a591b6"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits it onto the rod until it rests stably on the stand."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled white hexagonal block on the wooden stand."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area of the wooden bottle rack toward the green cubic block on the dark table surface, lifting its index finger off a purple-capped bottle cap as it moves, remaining empty as it approaches the block."}, {"label": "goal", "start_step": 2011, "end_step": 2110, "id": "5692024a-ec21-44c7-aad7-39e9dcbabbe6"}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the green cubic block resting on the dark table surface to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green holed block resting on the right area of the black table surface without moving."}, {"label": "goal", "start_step": 2111, "end_step": 2240, "id": "311cde9f-8a31-4db0-971a-61f01fb8be03"}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green holed block off the table surface, transporting the block upward and leftward to the position above the unoccupied peg on the light wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green holed block with the target peg on the light wooden rack, moving the block downward to fit the block securely onto the peg."}, {"label": "home", "start_step": 2291, "end_step": 2321, "id": "Esn59H8mVW7fZW8Bz73bQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward and slightly inward from its initial outer left position to the front left resting position, with fingers adjusting from a fully extended posture to a slightly curved, relaxed posture. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block near the wooden block stand, with fingers extended, and does not contact the block during this movement."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block near the wooden block stand, with fingers extended, and does not contact the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block resting on the table surface, fingers close around the block and make small positional adjustments to form a grip, while the block remains supported by the table."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the left purple peg of the wooden stand, with fingers opening to release the seated block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the table surface in front of the wooden stand."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it to the position directly above the target purple post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the target purple post, and adjusts the nut's position to fit it down onto the post."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold_release: Right hand holds the white cylindrical block on the wooden rack and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the white hexagonal block upward and rightward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden stand and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand places the white cylindrical block onto the corresponding peg of the wooden assembly stand, presses it down to secure it and releases the block."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned next to the wooden assembly stand on the table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a firm grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift: Right hand firmly holds the white hexagonal block resting on the dark table surface, lifts the block vertically upward until it is no longer in contact with the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air, moving it toward the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod, making small wrist and finger adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the green hexagonal block on the table, staying empty."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the target green hexagonal block on the table, making contact and adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the position above the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1178, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post on the wooden stand, lowers the block and makes small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the topmost white cylindrical block on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward from the wooden assembly rack toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the stacked wooden block set toward the white hexagonal nut placed on the table to the right front of the blocks, keeping fingers open while approaching the target object."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table to form a grip on the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits it onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the seated position on the purple rod and opens fingers to release the nut."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary adjacent to the right side of the wooden block rack, with no visible movement or contact with grasped objects."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table, fingers held extended, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually closing around the nut to adjust grip position, with no stable grasp yet achieved."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the right area of the black table surface without moving."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits it onto the rod until it rests stably on the stand."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled white hexagonal block on the wooden stand."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area of the wooden bottle rack toward the green cubic block on the dark table surface, lifting its index finger off a purple-capped bottle cap as it moves, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the green cubic block resting on the dark table surface to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green holed block resting on the right area of the black table surface without moving."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green holed block off the table surface, transporting the block upward and leftward to the position above the unoccupied peg on the light wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green holed block with the target peg on the light wooden rack, moving the block downward to fit the block securely onto the peg."}], "episode_index": 5}
+{"source_uid": "d80e28b85040f141", "num_frames": 2455, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly upward and rotates its wrist with fingers opening, remaining empty and not contacting any object. | Right hand: reach: Right hand moves leftward and downward from the right side of the table, approaching the green hexagonal block near the left side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "79f6297e-d061-4acd-ad3c-e3c9324cc2fa"}, {"label": "valid", "start_step": 0, "end_step": 2419, "id": "5pOPpp8PQFWdKuR9NMiiy"}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table, approaching the green hexagonal block near the left side of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making slight posture adjustments to stabilize the grasp."}, {"label": "goal", "start_step": 156, "end_step": 365, "id": "681092d0-fb54-4189-92a6-62c1d40ca496"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 202, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it down onto the peg, making small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 366, "end_step": 475, "id": "e80bcc61-e77b-48d3-9be2-88786550ff96"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hollow hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white hexagonal nut resting on the black table surface, with fingers making small grip adjustments."}, {"label": "goal", "start_step": 476, "end_step": 640, "id": "0703b56d-91b2-4306-8750-5f2dbeaaa752"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it rightward and upward to the area above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press_release: Right hand presses the white hexagonal nut downward along the purple peg to the peg base and releases its grip on the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 641, "end_step": 720, "id": "fe4cfe03-1883-43a6-9f4d-8f05005119c6"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "goal", "start_step": 721, "end_step": 885, "id": "79a1ea45-a6c8-410e-8f29-369439687ee3"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while moving it toward the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the front-left purple rod by aligning its hole with the rod and inserting it downward."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal object on the front-left purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table below the wooden rack."}, {"label": "goal", "start_step": 886, "end_step": 970, "id": "9e0d3755-3c41-4cb5-8e32-c274e397209b"}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 971, "end_step": 1140, "id": "1b7e777c-960d-44a3-b932-a7693f58f70f"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, adjusting the part's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the purple peg and retreats slightly upward from the part."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1141, "end_step": 1220, "id": "0d30d06c-697c-442d-8235-27a8ff3916b4"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1221, "end_step": 1375, "id": "c605a06b-2407-434c-9a5a-aff46aedcd97"}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the middle peg of the peg board."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the middle peg of the peg board by aligning and lowering it."}, {"label": "subtasks", "start_step": 1268, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the green cubic block on the middle peg of the peg board without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1376, "end_step": 1470, "id": "b97d73e0-c78f-413e-a555-66bdce98a811"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the green block, with fingers closing to secure the grip."}, {"label": "goal", "start_step": 1471, "end_step": 1610, "id": "054d68ff-cf7c-4095-a25c-dec43f4e4b34"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the green block to the upper position of the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the green post of the wooden rack via aligning and inserting."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the green post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod by opening its fingers and moving slightly upward."}, {"label": "goal", "start_step": 1611, "end_step": 1715, "id": "d58afa4f-d4cb-4585-b6a8-f0d1581b5f48"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves rightward and downward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table by closing its fingers around the block."}, {"label": "goal", "start_step": 1716, "end_step": 1830, "id": "f81de192-0129-4359-a532-4ec79caded3e"}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple rod by aligning the central hole and lowering the piece onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white block with a purple rod on the wooden base."}, {"label": "goal", "start_step": 1831, "end_step": 1915, "id": "10cff28a-d1ac-4138-9285-5b272e22b649"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting slightly."}, {"label": "goal", "start_step": 1916, "end_step": 2065, "id": "a90e460b-abe9-4720-a01b-2733ea471f76"}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the purple rod on the wooden rack, inserting it downward along the rod to the bottom position."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top into the hole of the wooden rack."}, {"label": "goal", "start_step": 2066, "end_step": 2165, "id": "b76ca00d-3089-4ba9-b5a3-8dbe75b59be8"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 2092, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table, with fingers closing around it."}, {"label": "goal", "start_step": 2166, "end_step": 2365, "id": "74ecbd30-abaf-4c60-9959-7c38c2064096"}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green holed square block from the table and transports it upward and leftward toward the rightmost column of the bottle rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the green holed square block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the green holed square block on the target white bottle without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press: Right hand presses the green holed square block downward along the target bottle to secure it."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the green holed square block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2420, "end_step": 2454, "id": "q_8Z1hl92eeFLcWImhcg_"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly upward and rotates its wrist with fingers opening, remaining empty and not contacting any object. | Right hand: reach: Right hand moves leftward and downward from the right side of the table, approaching the green hexagonal block near the left side of the wooden pegboard."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table, approaching the green hexagonal block near the left side of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making slight posture adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 202, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it down onto the peg, making small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hollow hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white hexagonal nut resting on the black table surface, with fingers making small grip adjustments."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it rightward and upward to the area above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press_release: Right hand presses the white hexagonal nut downward along the purple peg to the peg base and releases its grip on the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while moving it toward the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the front-left purple rod by aligning its hole with the rod and inserting it downward."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal object on the front-left purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, adjusting the part's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the purple peg and retreats slightly upward from the part."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the middle peg of the peg board."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the middle peg of the peg board by aligning and lowering it."}, {"label": "subtasks", "start_step": 1268, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the green cubic block on the middle peg of the peg board without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the green block, with fingers closing to secure the grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the green block to the upper position of the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the green post of the wooden rack via aligning and inserting."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the green post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod by opening its fingers and moving slightly upward."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves rightward and downward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple rod by aligning the central hole and lowering the piece onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white block with a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting slightly."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the purple rod on the wooden rack, inserting it downward along the rod to the bottom position."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top into the hole of the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 2092, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table, with fingers closing around it."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green holed square block from the table and transports it upward and leftward toward the rightmost column of the bottle rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the green holed square block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the green holed square block on the target white bottle without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press: Right hand presses the green holed square block downward along the target bottle to secure it."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the green holed square block, with fingers opening and separating from the block."}], "episode_index": 6}
+{"source_uid": "4d9aa582074e412a", "num_frames": 3135, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "4a894355-1be6-45d3-b26a-20149228542d"}, {"label": "valid", "start_step": 0, "end_step": 3107, "id": "lGcwaDz6HpE1Ej0Er1R2s"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block stably on the table without movement."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black tabletop, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 206, "end_step": 405, "id": "77a35413-3e5d-4154-90cb-2875404e47f1"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 292, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg of the wooden base."}, {"label": "goal", "start_step": 406, "end_step": 520, "id": "c7b458de-36c4-4b32-a8db-0367db419ce9"}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 521, "end_step": 755, "id": "70a0455b-9f79-48fa-afc7-7901a3070bf9"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to the upper position of the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal object with the leftmost purple post and pushes it down to complete the mating."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object fitted on the purple post, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the leftmost purple post position after releasing the object."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 756, "end_step": 870, "id": "a1df4323-e283-4a77-b4cb-abe3bae100d7"}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black tabletop to establish stable grasp."}, {"label": "goal", "start_step": 871, "end_step": 1035, "id": "23a257f7-ed6b-4b41-91b3-0875531d3d98"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from the block."}, {"label": "goal", "start_step": 1036, "end_step": 1155, "id": "e459bda4-3d9c-4a1c-a2f0-3e53d6b0290a"}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts finger positions to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1156, "end_step": 1310, "id": "e73a9741-36c0-4480-9669-b2bf24d966b7"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1311, "end_step": 1455, "id": "f1a3beba-90cd-4879-9e2f-a8abeb41b3c3"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1456, "end_step": 1635, "id": "83fc5d6c-ee46-451f-971b-c61045fd0579"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the white peg on the wooden rack."}, {"label": "subtasks", "start_step": 1508, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white peg and lowers it to mate the block onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1636, "end_step": 1750, "id": "7a0a0d7d-109d-42dd-b8b5-dfbed94d33d5"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to prepare for grasping the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1751, "end_step": 2035, "id": "dbf5e7ae-a3ed-4fac-a4ce-c2d238997729"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1830, "end_step": 2024, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 2036, "end_step": 2180, "id": "6d43cb38-d622-4a18-93e0-5a6b2fd29f73"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2181, "end_step": 2370, "id": "c0d8d8a4-826f-4414-ad0c-ee96fd3ee586"}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the wooden base."}, {"label": "goal", "start_step": 2371, "end_step": 2550, "id": "88e710d6-427d-44cf-a395-2852bb36c9e3"}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2587, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2551, "end_step": 2765, "id": "9ea3eef0-72b9-4668-9598-0c3d4d27aabe"}, {"label": "subtasks", "start_step": 2588, "end_step": 2601, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal object off the black table surface."}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal object to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the purple rod, fitting it down onto the rod."}, {"label": "subtasks", "start_step": 2730, "end_step": 2781, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object, opening fingers to separate from the object."}, {"label": "goal", "start_step": 2766, "end_step": 2870, "id": "d44129bd-d347-45b2-98f0-d57aa5b3398e"}, {"label": "subtasks", "start_step": 2782, "end_step": 2827, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the black table surface."}, {"label": "subtasks", "start_step": 2828, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green hollow block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the right side of the table surface."}, {"label": "goal", "start_step": 2871, "end_step": 3050, "id": "49d6d6f4-a2f5-4772-85c0-9451bbd4800f"}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2925, "end_step": 3044, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the white bottle and fits it down onto the bottle."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that is already fitted on the white bottle."}, {"label": "home", "start_step": 3108, "end_step": 3134, "id": "1aq4RlY9tKQzX9_YkWSYq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block stably on the table without movement."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black tabletop, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 292, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to the upper position of the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal object with the leftmost purple post and pushes it down to complete the mating."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object fitted on the purple post, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the leftmost purple post position after releasing the object."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black tabletop to establish stable grasp."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from the block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts finger positions to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the white peg on the wooden rack."}, {"label": "subtasks", "start_step": 1508, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white peg and lowers it to mate the block onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to prepare for grasping the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1830, "end_step": 2024, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the wooden base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2587, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2588, "end_step": 2601, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal object off the black table surface."}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal object to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the purple rod, fitting it down onto the rod."}, {"label": "subtasks", "start_step": 2730, "end_step": 2781, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object, opening fingers to separate from the object."}, {"label": "subtasks", "start_step": 2782, "end_step": 2827, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the black table surface."}, {"label": "subtasks", "start_step": 2828, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green hollow block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the right side of the table surface."}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2925, "end_step": 3044, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the white bottle and fits it down onto the bottle."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that is already fitted on the white bottle."}], "episode_index": 7}
+{"source_uid": "cf5831b7f162c339", "num_frames": 2437, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger postures with slight finger movements while remaining at the left side of the workspace, holding no objects. | Right hand: idle: Right hand remains empty on the right side of the workspace without any visible movement."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "d98bb3bd-0815-415b-9e6b-f549d14126db"}, {"label": "valid", "start_step": 0, "end_step": 2409, "id": "wtRzoO90cBBvQtwZuT8vU"}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger postures with slight finger movements while remaining at the left side of the workspace, holding no objects. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 156, "end_step": 340, "id": "44b88700-3a6e-4f00-be3d-f0590f0cf4c8"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg, and lowers the block down the peg until it rests stably on the wooden base while making fine positional adjustments."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table surface, remaining empty with no contact to the target block."}, {"label": "goal", "start_step": 341, "end_step": 430, "id": "5f0421a9-8066-417e-bf86-ff539a5d420c"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, with the block remaining resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table surface, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal nut resting on the green supporting block."}, {"label": "goal", "start_step": 431, "end_step": 565, "id": "ddc0b69a-4da7-4c40-9720-387ab4ab32e0"}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to fully separate it from the green supporting block on the table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and rightward to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the top white cylindrical block on the wooden assembly rack downward to fully seat it onto the support peg."}, {"label": "goal", "start_step": 566, "end_step": 670, "id": "cf9d6d48-e7d0-4353-a47d-f70bcc43d64d"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty from the assembly rack toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small adjustments to form a secure grip on the object."}, {"label": "goal", "start_step": 671, "end_step": 805, "id": "98c604db-0444-4e03-8679-a124d0d4c76f"}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden assembly base, positioning the nut above the target rod."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod below, lowering the nut vertically to fit it onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses downward on the top surface of the topmost white cylindrical block on the wooden assembly stand to secure it fully onto the support post."}, {"label": "goal", "start_step": 806, "end_step": 890, "id": "e2c2f7a7-83aa-4d81-ab26-19a9dd7663b4"}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and toward the front-left white hexagonal nut placed on the black table surface, remaining empty with fingers slightly open, without contacting the nut during movement."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand contacts the front-left white hexagonal nut on the table, fingers gradually close and make small positional adjustments to establish a stable grip on the nut."}, {"label": "goal", "start_step": 891, "end_step": 1025, "id": "1fd799fc-7aac-4cc8-bff3-b21c6f6d8315"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 945, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downwards and leftwards from the top of the wooden pegboard toward the nearby green hexagonal block on the black table surface, with fingers kept open, no contact with the target block."}, {"label": "goal", "start_step": 1026, "end_step": 1140, "id": "7679170e-2336-4fa7-ad39-2523ba47bb03"}, {"label": "subtasks", "start_step": 1058, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers adjust positions and close gradually around the block, with visible fine movements of fingers and wrist to establish a stable grip."}, {"label": "goal", "start_step": 1141, "end_step": 1255, "id": "272d7acb-55f0-42b4-bad8-518f7d9dec0f"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, transports it to the purple peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand moves the purple rod downward to align and insert it into the green block on the wooden assembly base."}, {"label": "goal", "start_step": 1256, "end_step": 1400, "id": "10d2e3a0-e169-45ec-b503-361cb9b5b26c"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward while empty to approach the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting fingers to close around and form a grip on the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the dark table surface."}, {"label": "goal", "start_step": 1401, "end_step": 1545, "id": "a68cb7cb-ffdc-48ca-9f18-fb7963d79929"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, makes slight positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the area above the wooden bottle rack toward the small white hexagonal nut on the dark table surface, with fingers held open as it approaches the target object."}, {"label": "goal", "start_step": 1546, "end_step": 1645, "id": "47114d75-4b05-40ab-9303-4b6f3fe56206"}, {"label": "subtasks", "start_step": 1590, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal nut on the table, making slight positional adjustments to the fingers to establish a secure grip on the object."}, {"label": "goal", "start_step": 1646, "end_step": 1760, "id": "dabcbd7e-1a51-4db1-ad5e-3476c158d0ed"}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and moves it upward to the area above the purple vertical rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal block to align its central opening with the purple vertical rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until the block rests securely on the top surface of the adjacent white block on the wooden stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: retreat: Right hand moves away from the wooden block rack area towards the lower right of the table, remaining empty with slight finger adjustments during movement."}, {"label": "goal", "start_step": 1761, "end_step": 1865, "id": "a5664ce8-4135-4080-a9a2-861faa280287"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, keeping fingers open while approaching the target."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal nut on the table, adjusting finger positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut on the dark table surface without moving."}, {"label": "goal", "start_step": 1866, "end_step": 2150, "id": "18bb1f26-a00b-48af-8110-398ca34941cb"}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and transports it upward to the position directly above the purple rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple rod, lowers the nut to fit it onto the rod to complete the mating action."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without obvious movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the purple-topped white cylinder placed on the wooden rack, separating from the cylinder."}, {"label": "goal", "start_step": 2151, "end_step": 2235, "id": "953b81b2-3619-4278-90b7-acf361934d40"}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves rightward and downward toward the green square block on the table with an open hand posture."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger positions to establish a grasp."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green square block resting on the dark gray table surface with no visible movement or grip adjustment."}, {"label": "goal", "start_step": 2236, "end_step": 2365, "id": "1fa2c3b7-145c-43ee-9649-5e74673d1a0c"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and transports it upward toward the top of the rightmost white bottle placed on the wooden rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_release: Right hand makes small positional adjustments to the green block to align its central hole with the top of the target white bottle, fits the block securely onto the bottle top and opens its fingers to release the block."}, {"label": "home", "start_step": 2410, "end_step": 2436, "id": "zL2MIAjm9Kdg1MiPeK2Ga"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger postures with slight finger movements while remaining at the left side of the workspace, holding no objects. | Right hand: idle: Right hand remains empty on the right side of the workspace without any visible movement."}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger postures with slight finger movements while remaining at the left side of the workspace, holding no objects. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg, and lowers the block down the peg until it rests stably on the wooden base while making fine positional adjustments."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table surface, remaining empty with no contact to the target block."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, with the block remaining resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table surface, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal nut resting on the green supporting block."}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to fully separate it from the green supporting block on the table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and rightward to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the top white cylindrical block on the wooden assembly rack downward to fully seat it onto the support peg."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty from the assembly rack toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small adjustments to form a secure grip on the object."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden assembly base, positioning the nut above the target rod."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod below, lowering the nut vertically to fit it onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses downward on the top surface of the topmost white cylindrical block on the wooden assembly stand to secure it fully onto the support post."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and toward the front-left white hexagonal nut placed on the black table surface, remaining empty with fingers slightly open, without contacting the nut during movement."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand contacts the front-left white hexagonal nut on the table, fingers gradually close and make small positional adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 945, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downwards and leftwards from the top of the wooden pegboard toward the nearby green hexagonal block on the black table surface, with fingers kept open, no contact with the target block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers adjust positions and close gradually around the block, with visible fine movements of fingers and wrist to establish a stable grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, transports it to the purple peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand moves the purple rod downward to align and insert it into the green block on the wooden assembly base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward while empty to approach the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting fingers to close around and form a grip on the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, makes slight positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the area above the wooden bottle rack toward the small white hexagonal nut on the dark table surface, with fingers held open as it approaches the target object."}, {"label": "subtasks", "start_step": 1590, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal nut on the table, making slight positional adjustments to the fingers to establish a secure grip on the object."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and moves it upward to the area above the purple vertical rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal block to align its central opening with the purple vertical rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until the block rests securely on the top surface of the adjacent white block on the wooden stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: retreat: Right hand moves away from the wooden block rack area towards the lower right of the table, remaining empty with slight finger adjustments during movement."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, keeping fingers open while approaching the target."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal nut on the table, adjusting finger positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and transports it upward to the position directly above the purple rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple rod, lowers the nut to fit it onto the rod to complete the mating action."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without obvious movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the purple-topped white cylinder placed on the wooden rack, separating from the cylinder."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves rightward and downward toward the green square block on the table with an open hand posture."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger positions to establish a grasp."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green square block resting on the dark gray table surface with no visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and transports it upward toward the top of the rightmost white bottle placed on the wooden rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_release: Right hand makes small positional adjustments to the green block to align its central hole with the top of the target white bottle, fits the block securely onto the bottle top and opens its fingers to release the block."}], "episode_index": 8}
+{"source_uid": "c2faa7664952659b", "num_frames": 2684, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:open_fingers: Left hand opens its fingers while staying at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the pegboard, with the wrist rotating slightly to face downward."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "d5e17d6c-3e51-4f48-baad-9712394a28e7"}, {"label": "valid", "start_step": 0, "end_step": 2651, "id": "h5IlZeUVKxhTPOagFdNqK"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the pegboard, with the wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 161, "end_step": 385, "id": "3a82e1d9-1b46-4673-8218-57fc5f1e9362"}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the front-left peg of the purple pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the front-left peg of the purple pegboard by lowering and aligning the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left peg of the purple pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base, releasing the ring with fingers opening."}, {"label": "goal", "start_step": 386, "end_step": 480, "id": "11ab6395-4334-4152-a39b-2b045e10cc9c"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the black table surface without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting its fingers to stabilize the grip."}, {"label": "goal", "start_step": 481, "end_step": 670, "id": "a9021541-86d2-45b0-8c29-a27d9e3458cd"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the front-left purple post of the test tube rack."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the front-left purple post of the test tube rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple post without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 671, "end_step": 795, "id": "9f8d44a6-9564-48f0-bf38-3ec0c930d18b"}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 796, "end_step": 965, "id": "b7627775-d3b3-4c6f-b5b0-c38e5c3c29d6"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple rod of the wooden rack, adjusting position to fit onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring block onto the top of the right purple peg and releases it."}, {"label": "goal", "start_step": 966, "end_step": 1070, "id": "d8738bae-f9c2-405a-a976-ee89cbbaba15"}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block above the green block on the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 1071, "end_step": 1225, "id": "7563fdc6-d709-4906-ac9e-25506d345f93"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and leftward to the top of the front purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front purple rod of the wooden rack, lowering the block along the rod until it rests at the bottom."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the rightmost rod of the wooden board and moves downward toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 1226, "end_step": 1350, "id": "d01d95a0-c745-4a2d-a2e9-f203ba3e7a73"}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, closing and adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1351, "end_step": 1545, "id": "d518c343-cdf5-4978-8e11-f9d983ab9d78"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1455, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1546, "end_step": 1635, "id": "60c31026-e0f8-4c37-ac82-acb2abc7a0b9"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block to leave the black table surface."}, {"label": "goal", "start_step": 1636, "end_step": 1870, "id": "35f92906-3911-4efb-bb69-14a1ddcfa564"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward towards the wooden rack with cylindrical posts."}, {"label": "subtasks", "start_step": 1680, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target cylindrical post of the wooden rack, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-right post of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1871, "end_step": 1990, "id": "a62b29c9-2820-4e23-b4e6-912d239d58a8"}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1935, "end_step": 2001, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table near the wooden base, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1991, "end_step": 2090, "id": "7a3a8d83-72b3-4978-8d71-1b0ac8be0661"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward to above the purple rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the purple small component onto the front-right column of the wooden base and releases its grip."}, {"label": "goal", "start_step": 2091, "end_step": 2185, "id": "b7c0d6b0-286c-4394-bb97-36654ec04f96"}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part at the right lower area of the table without moving."}, {"label": "goal", "start_step": 2186, "end_step": 2340, "id": "c34a34ce-621c-4470-9a02-db5934435e75"}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2235, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod by aligning the hole and inserting it downward onto the rod."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with a purple rod at the rightmost bottom slot of the wooden base, fingers open to separate from the bottle."}, {"label": "goal", "start_step": 2341, "end_step": 2450, "id": "19673f44-1cda-43c1-80d6-650329bc81f6"}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table with empty hand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the green square block on the black table without moving."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table, fingers close around the block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green block off the table surface."}, {"label": "goal", "start_step": 2451, "end_step": 2610, "id": "160ff93e-e644-4d1d-89cd-aa57e2a7cf99"}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftwards and upwards towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white cylinder with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the rightmost white cylinder without moving."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightwards and upwards away from the wooden rack."}, {"label": "home", "start_step": 2652, "end_step": 2683, "id": "czih6u58l5YI3my3Ybw3Y"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:open_fingers: Left hand opens its fingers while staying at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the pegboard, with the wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the pegboard, with the wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the front-left peg of the purple pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the front-left peg of the purple pegboard by lowering and aligning the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left peg of the purple pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base, releasing the ring with fingers opening."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the black table surface without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting its fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the front-left purple post of the test tube rack."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the front-left purple post of the test tube rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple post without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple rod of the wooden rack, adjusting position to fit onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring block onto the top of the right purple peg and releases it."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block above the green block on the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and leftward to the top of the front purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front purple rod of the wooden rack, lowering the block along the rod until it rests at the bottom."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the rightmost rod of the wooden board and moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, closing and adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1455, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block to leave the black table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward towards the wooden rack with cylindrical posts."}, {"label": "subtasks", "start_step": 1680, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target cylindrical post of the wooden rack, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-right post of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1935, "end_step": 2001, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table near the wooden base, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward to above the purple rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the purple small component onto the front-right column of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part at the right lower area of the table without moving."}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2235, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod by aligning the hole and inserting it downward onto the rod."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with a purple rod at the rightmost bottom slot of the wooden base, fingers open to separate from the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table with empty hand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the green square block on the black table without moving."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table, fingers close around the block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green block off the table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftwards and upwards towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white cylinder with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the rightmost white cylinder without moving."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightwards and upwards away from the wooden rack."}], "episode_index": 9}
+{"source_uid": "0a6957b097c7564c", "num_frames": 2470, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture at the left side of the table, with fingers extending slightly forward. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "28f5f6bd-635a-4e09-8f0b-724ef3140f60"}, {"label": "valid", "start_step": 0, "end_step": 2441, "id": "y-BnEIJtIVgqAzAXG4g-q"}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 52, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers adjust to form a stable grasp on the block."}, {"label": "goal", "start_step": 146, "end_step": 295, "id": "3d7843c2-dfcf-40a6-b255-934eac7b4ffd"}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base by inserting the block onto the peg."}, {"label": "goal", "start_step": 296, "end_step": 405, "id": "6275bff6-c2cf-4f48-b88f-cefd5de02423"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base on the table and transports it towards the purple rod on the test tube rack."}, {"label": "goal", "start_step": 406, "end_step": 545, "id": "918cbd8a-938d-498b-ae2d-d63938daa9fe"}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 546, "end_step": 635, "id": "c028ff06-5653-4526-8597-413ddba18b2c"}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 636, "end_step": 775, "id": "640c018f-f4e2-4232-b217-7f48b13a67f4"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base, until the block is stably supported."}, {"label": "goal", "start_step": 776, "end_step": 890, "id": "2fc73f1c-927e-42eb-9b6d-d3d6e66c7e9a"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "goal", "start_step": 891, "end_step": 1015, "id": "40c04d97-1a17-4657-b6c9-87eb157dd450"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: transport: Right hand transports the white cylindrical object above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand gradually opens its fingers to release the white cylindrical object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1016, "end_step": 1125, "id": "836e8fa6-bfc0-4723-946f-4fb55b11c6db"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the target post on the wooden rack."}, {"label": "goal", "start_step": 1126, "end_step": 1375, "id": "fb2d8a0f-5b1b-42cc-8b76-4b6a1cdfa1ef"}, {"label": "subtasks", "start_step": 1155, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the green block with the target post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: press: Right hand presses the green block onto the peg on the wooden tray."}, {"label": "goal", "start_step": 1376, "end_step": 1460, "id": "d8184d67-7869-4d5e-905b-92e7fe93df6c"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1461, "end_step": 1655, "id": "b28f2a0f-115b-438d-8159-f42f319f2a11"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the wooden rack with posts."}, {"label": "subtasks", "start_step": 1515, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the target post on the wooden rack and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the wooden base, fingers open and move away from the cylinder."}, {"label": "goal", "start_step": 1656, "end_step": 1780, "id": "9216d049-507b-4985-b0cb-adbbc5ecd068"}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1799, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts finger posture to approach and prepare grasping the white ring on the black table."}, {"label": "goal", "start_step": 1781, "end_step": 1940, "id": "bb7ca8f8-13b4-4d88-8477-14a9c17cdcde"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 1941, "end_step": 2010, "id": "f44ed67f-860c-4a4e-b312-6b0f4f888ca7"}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal object on the black tabletop."}, {"label": "goal", "start_step": 2011, "end_step": 2120, "id": "1675f269-296b-4d07-9e76-d2b3ed5695ad"}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: press: Right hand presses the white cylindrical block on the wooden base to push it down."}, {"label": "goal", "start_step": 2121, "end_step": 2220, "id": "d8737322-dbf1-4bd6-8826-dbc017a563d0"}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden base toward the green square block on the table."}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the black table."}, {"label": "goal", "start_step": 2221, "end_step": 2385, "id": "234fb44d-eb5a-46ca-bff8-6e9a95419ae7"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it to above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the green cube with the top opening of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place_press: Right hand places the green cube onto the rightmost white bottle and presses it down to fit tightly on the bottle."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the green cube by opening its fingers, leaving the cube fitted on the white bottle."}, {"label": "home", "start_step": 2442, "end_step": 2469, "id": "5HS1l3nCXZ8NWLB96FctF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture at the left side of the table, with fingers extending slightly forward. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 52, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base by inserting the block onto the peg."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base on the table and transports it towards the purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base, until the block is stably supported."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: transport: Right hand transports the white cylindrical object above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand gradually opens its fingers to release the white cylindrical object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the target post on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the green block with the target post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: press: Right hand presses the green block onto the peg on the wooden tray."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the wooden rack with posts."}, {"label": "subtasks", "start_step": 1515, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the target post on the wooden rack and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the wooden base, fingers open and move away from the cylinder."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1799, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts finger posture to approach and prepare grasping the white ring on the black table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: press: Right hand presses the white cylindrical block on the wooden base to push it down."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden base toward the green square block on the table."}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the black table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it to above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the green cube with the top opening of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place_press: Right hand places the green cube onto the rightmost white bottle and presses it down to fit tightly on the bottle."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the green cube by opening its fingers, leaving the cube fitted on the white bottle."}], "episode_index": 10}
+{"source_uid": "072fb3360647dfd8", "num_frames": 2534, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: idle: Right hand remains empty at the right home position with no obvious positional movement, only minor initial finger adjustment."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "88a280dc-c54e-4c35-ae17-a1e2ef711159"}, {"label": "valid", "start_step": 0, "end_step": 2505, "id": "QvGUM_5NReEOAolPDMiCJ"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal nut on the black table surface to form a grip."}, {"label": "goal", "start_step": 161, "end_step": 315, "id": "5ee53737-5842-47bc-a0af-6591e01ff018"}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and transports it to a position directly above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 218, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block fitted onto the purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 316, "end_step": 410, "id": "5274e5d3-ded7-4b49-9e88-369dd0b82ea1"}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand contacts the white hexagonal nut, closing fingers and adjusting positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand moves the grasped white hexagonal nut upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand holds the lifted white hexagonal nut and continues moving it upward through the air."}, {"label": "goal", "start_step": 411, "end_step": 555, "id": "6efb6320-c6d3-409f-a5ee-72660b88a28e"}, {"label": "subtasks", "start_step": 420, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully raising it off the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden stand and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the object."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal nut on the black table surface, with fingers held in a slightly spread posture."}, {"label": "goal", "start_step": 556, "end_step": 660, "id": "5f2ba25c-111a-4e70-b691-b711a90a0a63"}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the black table, adjusting finger contact positions to form a grip, with the nut remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand firmly holds the white hexagonal nut and lifts it upward until the nut is completely separated from the table surface."}, {"label": "goal", "start_step": 661, "end_step": 815, "id": "04af1265-aec9-412e-a493-ed470624a70d"}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it directly above the target cylindrical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target peg, and moves the nut downward slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the target peg without any observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut and moves it downward further to fit it more securely onto the target peg."}, {"label": "subtasks", "start_step": 810, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut in front of the wooden assembly base, with fingers extended during the approach."}, {"label": "goal", "start_step": 816, "end_step": 915, "id": "5bd85b7c-848f-4733-88e7-d183fc4fa169"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut to establish a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, and lifts the nut upward until it is fully separated from the table surface."}, {"label": "goal", "start_step": 916, "end_step": 1140, "id": "f68afc89-1045-497f-8881-e31d040def5f"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it upward and toward the purple vertical rod on the wooden block assembly until the nut is positioned directly above the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, and slides the nut downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, and moves the fingers away from the nut surface."}, {"label": "goal", "start_step": 1141, "end_step": 1255, "id": "50fdebfb-bede-4904-a2bb-4d500bb625e3"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the table surface, staying empty and not contacting any object during movement."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand contacts the green hexagonal block, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "goal", "start_step": 1256, "end_step": 1385, "id": "ccc016c6-1695-4c12-91b6-cdd1eb721885"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod and moves the block downward to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "goal", "start_step": 1386, "end_step": 1525, "id": "1d2e1e1a-67d2-4493-a021-1370b0aa1101"}, {"label": "subtasks", "start_step": 1425, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a grip on the white hexagonal nut resting on the black table."}, {"label": "goal", "start_step": 1526, "end_step": 1645, "id": "d09b10e5-7df7-4954-a7fa-d5c5863ca5af"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal block to align its central hole with the purple peg, lowers the block to fit onto the peg, and makes small finger adjustments to seat the block securely on the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand releases the white cylindrical component on the wooden block tray, with fingers opening and lifting away from the component."}, {"label": "goal", "start_step": 1646, "end_step": 1755, "id": "40b66df2-dead-4de3-87d6-f8f8317cdd64"}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves empty downward from above the wooden tray toward the small white hexagonal nut on the table to the right front of the tray, without making contact with the nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut, with fingers closing and adjusting positions to establish a grasp on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden block."}, {"label": "goal", "start_step": 1756, "end_step": 1885, "id": "c3a3744a-32f2-4025-a1e0-a3b9c0e18222"}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes small positional adjustments to align the held white hexagonal nut with the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: place: Right hand lowers the aligned white hexagonal nut down onto the purple rod until the nut rests stably on the wooden block surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves diagonally down and right away from the stacked block assembly toward the white hexagonal nut on the dark table surface, with fingers held in a slightly extended open posture."}, {"label": "goal", "start_step": 1886, "end_step": 1970, "id": "78a70947-7f53-4d51-8e36-ea23f6691ceb"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, fingers flex and close around the nut with minor adjustments to establish a secure hold."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface next to the green block without moving."}, {"label": "goal", "start_step": 1971, "end_step": 2145, "id": "67461035-5e3a-46e9-bd01-9cd58af90df6"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit over the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden block rack without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens fingers to release the purple-capped white bottle on the wooden rack."}, {"label": "goal", "start_step": 2146, "end_step": 2270, "id": "ffd57d7c-a9ad-4557-864a-cb999a6ba13c"}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward toward the small green cube on the table with an open hand."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the small green cube on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the small green cube on the table surface without visible movement."}, {"label": "goal", "start_step": 2271, "end_step": 2440, "id": "49da8446-1eb7-4894-88a2-1f6f312a3041"}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand lifts the green square block upwards, completely separating it from the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the green square block through the air, moving it to the position directly above the purple rod on the bottle rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2444, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: place_release: Right hand lowers the green square block downwards to align its central hole with the purple rod, places the block stably on the top of the underlying white bottle, opens fingers to release grip on the block."}, {"label": "home", "start_step": 2506, "end_step": 2533, "id": "t8wmc9VATximeYFr5XsKG"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: idle: Right hand remains empty at the right home position with no obvious positional movement, only minor initial finger adjustment."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal nut on the black table surface to form a grip."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and transports it to a position directly above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 218, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block fitted onto the purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand contacts the white hexagonal nut, closing fingers and adjusting positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand moves the grasped white hexagonal nut upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand holds the lifted white hexagonal nut and continues moving it upward through the air."}, {"label": "subtasks", "start_step": 420, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully raising it off the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden stand and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the object."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal nut on the black table surface, with fingers held in a slightly spread posture."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the black table, adjusting finger contact positions to form a grip, with the nut remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand firmly holds the white hexagonal nut and lifts it upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it directly above the target cylindrical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target peg, and moves the nut downward slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the target peg without any observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut and moves it downward further to fit it more securely onto the target peg."}, {"label": "subtasks", "start_step": 810, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut in front of the wooden assembly base, with fingers extended during the approach."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut to establish a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, and lifts the nut upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it upward and toward the purple vertical rod on the wooden block assembly until the nut is positioned directly above the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, and slides the nut downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, and moves the fingers away from the nut surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the table surface, staying empty and not contacting any object during movement."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand contacts the green hexagonal block, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod and moves the block downward to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1425, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a grip on the white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal block to align its central hole with the purple peg, lowers the block to fit onto the peg, and makes small finger adjustments to seat the block securely on the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand releases the white cylindrical component on the wooden block tray, with fingers opening and lifting away from the component."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves empty downward from above the wooden tray toward the small white hexagonal nut on the table to the right front of the tray, without making contact with the nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut, with fingers closing and adjusting positions to establish a grasp on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes small positional adjustments to align the held white hexagonal nut with the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: place: Right hand lowers the aligned white hexagonal nut down onto the purple rod until the nut rests stably on the wooden block surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves diagonally down and right away from the stacked block assembly toward the white hexagonal nut on the dark table surface, with fingers held in a slightly extended open posture."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, fingers flex and close around the nut with minor adjustments to establish a secure hold."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface next to the green block without moving."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit over the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden block rack without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens fingers to release the purple-capped white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward toward the small green cube on the table with an open hand."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the small green cube on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the small green cube on the table surface without visible movement."}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand lifts the green square block upwards, completely separating it from the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the green square block through the air, moving it to the position directly above the purple rod on the bottle rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2444, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: place_release: Right hand lowers the green square block downwards to align its central hole with the purple rod, places the block stably on the top of the underlying white bottle, opens fingers to release grip on the block."}], "episode_index": 11}
+{"source_uid": "8398cfe35a3beca8", "num_frames": 2959, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts its fingers from a vertically closed posture to an open spread posture, with no obvious arm displacement, remaining empty at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the upper-left green hexagonal block, with wrist rotating slightly to face downward, remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "941aad02-d9df-4d12-8eff-2e03d9086abe"}, {"label": "valid", "start_step": 0, "end_step": 2938, "id": "cG6Hh_sGpIF8ORn0XpjWd"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the upper-left green hexagonal block, with wrist rotating slightly to face downward, remaining empty."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the upper-left green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the upper-left green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift: Right hand lifts the wooden pegboard upwards from the table, with hexagonal blocks under it falling onto the table surface."}, {"label": "goal", "start_step": 136, "end_step": 320, "id": "98b5dc49-891b-48f5-a3f4-d2ca18a88a38"}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand fits the green hexagonal block onto the leftmost purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the wooden pegboard with the assembled green block in the air without moving."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: place: Right hand places the wooden pegboard back onto the table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward from the peg assembly area to approach the leftmost white hexagonal object on the table."}, {"label": "goal", "start_step": 321, "end_step": 390, "id": "764cef76-32fa-4752-9315-b6ace3a600c9"}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the leftmost white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "goal", "start_step": 391, "end_step": 545, "id": "3a7ee7e0-d003-46e0-8bd9-102c9d2c5154"}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the position above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 420, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple post by lowering and adjusting it to fit onto the post."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden rack, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 546, "end_step": 670, "id": "fd1f8b76-b943-4f78-a2bb-72132cdeb948"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: idle: Right hand remains empty near the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 671, "end_step": 980, "id": "4bf37d1f-2978-43e7-b925-a3d6f9547232"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 712, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod of the front-left test tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the front-left test tube rod without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white ring onto the top of the rightmost purple peg on the wooden board."}, {"label": "goal", "start_step": 981, "end_step": 1090, "id": "4d6da194-5ee9-4c2f-ac18-2deee1257324"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the table below the wooden board."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 1091, "end_step": 1485, "id": "3b51e874-e45b-4ce6-8340-b5ce891920b1"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1297, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg by aligning the block's hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 1298, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple rod and releases it."}, {"label": "goal", "start_step": 1486, "end_step": 1585, "id": "a7fcbbf2-80bb-4c76-acca-c5d067ce682c"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1586, "end_step": 1870, "id": "2b229acb-247e-47fa-8124-e1c3aa19fdda"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to the position above the middle peg on the wooden rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1791, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_press: Right hand aligns the green hexagonal block with the middle peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening until separated from the block."}, {"label": "goal", "start_step": 1871, "end_step": 1990, "id": "bad64397-d998-4651-8bb1-0e9cd6c0ff6c"}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: retreat: Right hand moves downward away from the wooden block base, empty."}, {"label": "subtasks", "start_step": 1912, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: idle: Right hand remains empty near the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal part on the right table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "goal", "start_step": 1991, "end_step": 2175, "id": "493917bf-f9f6-4ace-b52a-769cfa8af42c"}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2018, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod on the wooden rack, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: retreat: Right hand retreats upward away from the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward from the wooden block base area toward the upper white hexagonal ring on the black table surface, with fingers open."}, {"label": "goal", "start_step": 2176, "end_step": 2265, "id": "393f6194-ab0d-4e6a-a2a5-87999fec2895"}, {"label": "subtasks", "start_step": 2212, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers gradually closing and adjusting grip around the ring."}, {"label": "goal", "start_step": 2266, "end_step": 2395, "id": "725d2087-dfd3-4fe7-8351-809fd759eb35"}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple rod by lowering it to fit the rod through the piece's hole."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 2396, "end_step": 2495, "id": "aed87334-c467-453d-8dc9-25723f344e42"}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 2490, "end_step": 2534, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white ring-shaped object from the black table surface and transports it towards the purple rod on the middle wooden base."}, {"label": "goal", "start_step": 2496, "end_step": 2640, "id": "0d249947-7026-4eeb-8b3a-5c80cdfc78c8"}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white ring-shaped object with the purple rod by aligning the rod with the ring's central hole and placing it onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2639, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white ring-shaped object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: press: Right hand presses the purple cap onto the rightmost bottom bottle on the wooden rack."}, {"label": "goal", "start_step": 2641, "end_step": 2770, "id": "0a620e27-3093-4ad2-8014-131c0c27f919"}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release_reach: Right hand releases the purple cap while moving toward the green cubic block on the right lower part of the table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the green cubic block on the right lower part of the table without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green block on the right side of the table, with fingers adjusting to form a stable grip while the block rests on the table surface."}, {"label": "goal", "start_step": 2771, "end_step": 2895, "id": "a1eb66f0-5dce-4a4c-bac6-88d71e2f70b3"}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the rightmost cylinder of the block set on the wooden base."}, {"label": "subtasks", "start_step": 2805, "end_step": 2894, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder's post and fits it down onto the post to complete assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "home", "start_step": 2939, "end_step": 2958, "id": "WPZzd_j1XlkhN09IkSM7w"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts its fingers from a vertically closed posture to an open spread posture, with no obvious arm displacement, remaining empty at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the upper-left green hexagonal block, with wrist rotating slightly to face downward, remaining empty."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the upper-left green hexagonal block, with wrist rotating slightly to face downward, remaining empty."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the upper-left green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the upper-left green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift: Right hand lifts the wooden pegboard upwards from the table, with hexagonal blocks under it falling onto the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand fits the green hexagonal block onto the leftmost purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the wooden pegboard with the assembled green block in the air without moving."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: place: Right hand places the wooden pegboard back onto the table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward from the peg assembly area to approach the leftmost white hexagonal object on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the leftmost white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the position above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 420, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple post by lowering and adjusting it to fit onto the post."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden rack, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: idle: Right hand remains empty near the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 712, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod of the front-left test tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the front-left test tube rod without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white ring onto the top of the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the table below the wooden board."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1297, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg by aligning the block's hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 1298, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple rod and releases it."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to the position above the middle peg on the wooden rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1791, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_press: Right hand aligns the green hexagonal block with the middle peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening until separated from the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: retreat: Right hand moves downward away from the wooden block base, empty."}, {"label": "subtasks", "start_step": 1912, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: idle: Right hand remains empty near the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal part on the right table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2018, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod on the wooden rack, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: retreat: Right hand retreats upward away from the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward from the wooden block base area toward the upper white hexagonal ring on the black table surface, with fingers open."}, {"label": "subtasks", "start_step": 2212, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers gradually closing and adjusting grip around the ring."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple rod by lowering it to fit the rod through the piece's hole."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 2490, "end_step": 2534, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white ring-shaped object from the black table surface and transports it towards the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white ring-shaped object with the purple rod by aligning the rod with the ring's central hole and placing it onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2639, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white ring-shaped object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: press: Right hand presses the purple cap onto the rightmost bottom bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release_reach: Right hand releases the purple cap while moving toward the green cubic block on the right lower part of the table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the green cubic block on the right lower part of the table without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green block on the right side of the table, with fingers adjusting to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the rightmost cylinder of the block set on the wooden base."}, {"label": "subtasks", "start_step": 2805, "end_step": 2894, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder's post and fits it down onto the post to complete assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}], "episode_index": 12}
+{"source_uid": "f7c709e4dbe74f36", "num_frames": 2946, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture and position at the left side of the operating area, remaining empty. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "6985398f-07ba-45a9-b320-e59022010db6"}, {"label": "valid", "start_step": 0, "end_step": 2922, "id": "FU8nVwYDJ4sO9DhlXNsro"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand approaches the green hexagonal block, fingers close to establish grasp, with slight hand posture adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 156, "end_step": 315, "id": "baf331c3-a69d-47c1-87b1-c3c921644b91"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the green hexagonal block with the purple post by fitting it down onto the post."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the green hexagonal block and separates from it."}, {"label": "goal", "start_step": 316, "end_step": 400, "id": "1b81be28-bd99-474e-8ac1-0b86f850931a"}, {"label": "subtasks", "start_step": 330, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: pull: Right hand pulls the wooden base with assembled white cylindrical blocks towards the operator."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 352, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 401, "end_step": 510, "id": "008ac7bd-4c00-4e1e-8ab3-28cb03998267"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple column on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal nut with the purple column, aligns and inserts it down onto the column."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal nut, fingers open to separate from the nut."}, {"label": "goal", "start_step": 511, "end_step": 615, "id": "87e11b9b-df3e-47c2-b9db-6e57bdaf20d1"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 616, "end_step": 770, "id": "ffb2ee0f-faa9-46fe-b22b-3856387238ac"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the white hexagonal nut towards the purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 712, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 771, "end_step": 910, "id": "80688ff4-e8d9-4d03-ae91-1510436b1130"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts its fingers to form stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the purple rod on the wooden base."}, {"label": "goal", "start_step": 911, "end_step": 1080, "id": "667fabfa-9c25-4f2c-91f5-6d2ae23bfe80"}, {"label": "subtasks", "start_step": 930, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal block which is already fitted onto the purple rod."}, {"label": "goal", "start_step": 1081, "end_step": 1215, "id": "d9605c91-5693-476c-b772-dff987ec7a7e"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward from the wooden peg set toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand touches the green hexagonal block, adjusts fingers to form a stable grasp on the block."}, {"label": "goal", "start_step": 1216, "end_step": 1580, "id": "301dd096-0898-4d07-a0ad-cf932ef6fac9"}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base, aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in position."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases its grip on the green hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the green block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1581, "end_step": 1700, "id": "2ecb91ed-299c-41ea-8aa4-ec9be79af783"}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface."}, {"label": "goal", "start_step": 1701, "end_step": 1905, "id": "6d282c85-328e-493e-bb81-53ec04faa560"}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1770, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1898, "end_step": 1904, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base and releases the block."}, {"label": "goal", "start_step": 1906, "end_step": 2040, "id": "df77e45d-119b-476f-82bb-d4b63896193e"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table."}, {"label": "goal", "start_step": 2041, "end_step": 2355, "id": "a3445c88-f2d8-4b88-adbf-ef4a7d8bbb29"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white hexagonal block on the top of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2130, "end_step": 2279, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: idle: Right hand remains empty at the right side of the wooden tray without moving."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 2356, "end_step": 2455, "id": "690ed48c-e1dd-4e66-8315-405cafec0e97"}, {"label": "subtasks", "start_step": 2385, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "goal", "start_step": 2456, "end_step": 2605, "id": "723a13fa-afbd-4790-bc81-4d5a96de73f6"}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the test tube with a purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal ring onto the test tube with the purple rod, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 2595, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white cylinder with purple rod on the wooden base downward."}, {"label": "goal", "start_step": 2606, "end_step": 2715, "id": "0a2cc875-163d-49c4-989b-24d67839874c"}, {"label": "subtasks", "start_step": 2632, "end_step": 2654, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hollow block on the table."}, {"label": "subtasks", "start_step": 2715, "end_step": 2737, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: hold: Right hand holds the green square block on the black table without moving."}, {"label": "goal", "start_step": 2716, "end_step": 2880, "id": "c8146dc6-feaa-4629-9d3a-5e96d38216ba"}, {"label": "subtasks", "start_step": 2738, "end_step": 2759, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it towards the white bottle group on the wooden tray."}, {"label": "subtasks", "start_step": 2760, "end_step": 2879, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the green square block onto the top of the target white bottle on the wooden tray, adjusting to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2880, "end_step": 2894, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the green square block that is fitted on the white bottle."}, {"label": "home", "start_step": 2923, "end_step": 2945, "id": "KTx1U7wn4MuFyXAu5gbwI"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture and position at the left side of the operating area, remaining empty. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand approaches the green hexagonal block, fingers close to establish grasp, with slight hand posture adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the green hexagonal block with the purple post by fitting it down onto the post."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the green hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 330, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: pull: Right hand pulls the wooden base with assembled white cylindrical blocks towards the operator."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 352, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple column on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal nut with the purple column, aligns and inserts it down onto the column."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal nut, fingers open to separate from the nut."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the white hexagonal nut towards the purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 712, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts its fingers to form stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal block which is already fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward from the wooden peg set toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand touches the green hexagonal block, adjusts fingers to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base, aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in position."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases its grip on the green hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the green block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1770, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1898, "end_step": 1904, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white hexagonal block on the top of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2130, "end_step": 2279, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: idle: Right hand remains empty at the right side of the wooden tray without moving."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the test tube with a purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal ring onto the test tube with the purple rod, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 2595, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white cylinder with purple rod on the wooden base downward."}, {"label": "subtasks", "start_step": 2632, "end_step": 2654, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hollow block on the table."}, {"label": "subtasks", "start_step": 2715, "end_step": 2737, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: hold: Right hand holds the green square block on the black table without moving."}, {"label": "subtasks", "start_step": 2738, "end_step": 2759, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it towards the white bottle group on the wooden tray."}, {"label": "subtasks", "start_step": 2760, "end_step": 2879, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the green square block onto the top of the target white bottle on the wooden tray, adjusting to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2880, "end_step": 2894, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the green square block that is fitted on the white bottle."}], "episode_index": 13}
+{"source_uid": "7203bc438396d749", "num_frames": 2819, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves diagonally left-down from its initial right-side position toward the green hexagonal nut placed in front-left of the wooden block assembly, with fingers partially open, approaching the target without making contact."}, {"label": "goal", "start_step": 0, "end_step": 175, "id": "698fbf26-e548-461b-9935-3c51fbae8ad7"}, {"label": "valid", "start_step": 0, "end_step": 2790, "id": "LPTUuCmoXju9ZJ1ZZGrpw"}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the black table surface, closes fingers around the nut, and makes small continuous adjustments to finger and wrist positions to form a stable grip, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is completely separated from the black table surface."}, {"label": "goal", "start_step": 176, "end_step": 320, "id": "e78cb1bd-0a40-42d5-bed6-1c914d046f90"}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand carries the airborne green hexagonal block toward the wooden base, positioning the block directly above the target purple rod."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand lowers the green hexagonal block downward along the purple rod until the block rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple rod of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand holds the white cylindrical component, aligns it with and fits it onto the purple post of the wooden assembly base."}, {"label": "goal", "start_step": 321, "end_step": 430, "id": "eda1fd3b-ea69-40b4-803a-6c8001768565"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger contact positions and closes fingers around the white hexagonal block on the table, with continuous minor finger movements to establish a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand holds the white hexagonal nut, moves it upward and toward the wooden peg board to position it directly above the target purple peg."}, {"label": "goal", "start_step": 431, "end_step": 560, "id": "fd69f031-79b5-4ebf-bcdf-3720efc283e0"}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the target purple peg, lowering the nut slightly to engage with the peg."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand lowers the engaged white hexagonal nut along the purple peg until it rests steadily on the green plastic base at the bottom of the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate_release: Right hand aligns and presses the white hexagonal block onto the purple peg of the wooden assembly base, opening fingers to release the assembled block."}, {"label": "goal", "start_step": 561, "end_step": 685, "id": "e3ddc5ac-14cf-4e50-ab5e-8a4cca6eb297"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "goal", "start_step": 686, "end_step": 830, "id": "827512d1-ff9a-41f8-8c48-1e762c601a7d"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 728, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod on the wooden block rack and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut near the assembly base, without touching the nut."}, {"label": "goal", "start_step": 831, "end_step": 920, "id": "7c45f625-8844-4cab-b472-3cd197f1904f"}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand contacts the nearby white hexagonal nut, with fingers adjusting and closing gradually to establish a grip on the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without obvious movement."}, {"label": "goal", "start_step": 921, "end_step": 1090, "id": "246c6a71-ba13-43eb-98f9-a3e2f04bfac8"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 960, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut gradually to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1091, "end_step": 1200, "id": "5b55c41d-df6f-421f-a278-929b3666bfa7"}, {"label": "subtasks", "start_step": 1118, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block, raising the block fully off the dark table surface by the end of the segment."}, {"label": "goal", "start_step": 1201, "end_step": 1335, "id": "eb77b9fb-753e-45ab-9f38-9130afb399c0"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and rightward to position directly above the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand adjusts the green hexagonal block to align its central hole with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod, lowering it until it rests stably on the lower green block already mounted on the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand places the white hexagonal block onto the vertical rod of the stacked block assembly, releasing the block as fingers open."}, {"label": "goal", "start_step": 1336, "end_step": 1410, "id": "b50bc1c2-d3a2-4c67-b2ad-58d6337afe56"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal nut resting on the table near the green block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand closes fingers and adjusts contact points to grasp the white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1555, "id": "1b70260b-6cc9-4948-8173-f23b8ab1e629"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the dark table surface and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut onto the rod, and makes small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the rear peg of the wooden base until the block is stably supported, and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 1556, "end_step": 1665, "id": "af03f113-4cb8-44cb-a574-09e0522d8c73"}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves empty downward and rightward toward the loose white hexagonal block on the table to the right of the wooden base, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger positions to form a stable grip with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand holds the white hexagonal nut and transports it from the upper right area above the table to directly above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1666, "end_step": 1840, "id": "f748c1e7-2983-417d-8f2b-9cde7d3d39f0"}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens the fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "goal", "start_step": 1841, "end_step": 1935, "id": "050910d1-0b13-428c-b0dd-443b85b97d9d"}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: idle: Right hand remains empty, held stationary above the wooden block rack without contacting any objects."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from above the block rack toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: idle: Right hand remains empty, positioned stationary directly above the white hexagonal nut without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand moves slightly downward to the white hexagonal nut, fingers closing around the nut to establish a grip."}, {"label": "goal", "start_step": 1936, "end_step": 2075, "id": "358414d8-5154-4cd3-b900-d3edc83aae90"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white cylindrical block seated in the wooden organizer, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 2076, "end_step": 2180, "id": "82c6a31f-1eba-41fc-8892-8b51641ebef4"}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand lowers the white hexagonal nut into the aligned empty slot on the wooden rack and releases its grip, leaving the nut supported by the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white cylindrical block seated in the wooden organizer, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small green cubic block on the dark table surface with fingers held open."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts its wrist and finger positions, closing fingers around the small green cubic block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the green holed block from the dark table surface and transports it upward to the position directly above the target white bottle on the wooden rack."}, {"label": "goal", "start_step": 2181, "end_step": 2745, "id": "6248ed46-afeb-4d48-a8a4-87fd01aa8667"}, {"label": "subtasks", "start_step": 2220, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to the green block to align its central hole with the purple stem on the target bottle, gradually fitting the block onto the stem."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand lowers the green block along the purple stem to place it on the top of the target bottle where it is supported, then opens fingers to release the block."}, {"label": "home", "start_step": 2791, "end_step": 2818, "id": "uB40OGfAWUHP9o4bk_NBZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves diagonally left-down from its initial right-side position toward the green hexagonal nut placed in front-left of the wooden block assembly, with fingers partially open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the black table surface, closes fingers around the nut, and makes small continuous adjustments to finger and wrist positions to form a stable grip, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand carries the airborne green hexagonal block toward the wooden base, positioning the block directly above the target purple rod."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand lowers the green hexagonal block downward along the purple rod until the block rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple rod of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand holds the white cylindrical component, aligns it with and fits it onto the purple post of the wooden assembly base."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger contact positions and closes fingers around the white hexagonal block on the table, with continuous minor finger movements to establish a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand holds the white hexagonal nut, moves it upward and toward the wooden peg board to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the target purple peg, lowering the nut slightly to engage with the peg."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand lowers the engaged white hexagonal nut along the purple peg until it rests steadily on the green plastic base at the bottom of the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate_release: Right hand aligns and presses the white hexagonal block onto the purple peg of the wooden assembly base, opening fingers to release the assembled block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 728, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod on the wooden block rack and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut near the assembly base, without touching the nut."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand contacts the nearby white hexagonal nut, with fingers adjusting and closing gradually to establish a grip on the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without obvious movement."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 960, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut gradually to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block, raising the block fully off the dark table surface by the end of the segment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and rightward to position directly above the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand adjusts the green hexagonal block to align its central hole with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod, lowering it until it rests stably on the lower green block already mounted on the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand places the white hexagonal block onto the vertical rod of the stacked block assembly, releasing the block as fingers open."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal nut resting on the table near the green block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand closes fingers and adjusts contact points to grasp the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the dark table surface and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut onto the rod, and makes small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the rear peg of the wooden base until the block is stably supported, and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves empty downward and rightward toward the loose white hexagonal block on the table to the right of the wooden base, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger positions to form a stable grip with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand holds the white hexagonal nut and transports it from the upper right area above the table to directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens the fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: idle: Right hand remains empty, held stationary above the wooden block rack without contacting any objects."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from above the block rack toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: idle: Right hand remains empty, positioned stationary directly above the white hexagonal nut without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand moves slightly downward to the white hexagonal nut, fingers closing around the nut to establish a grip."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white cylindrical block seated in the wooden organizer, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand lowers the white hexagonal nut into the aligned empty slot on the wooden rack and releases its grip, leaving the nut supported by the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white cylindrical block seated in the wooden organizer, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small green cubic block on the dark table surface with fingers held open."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts its wrist and finger positions, closing fingers around the small green cubic block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the green holed block from the dark table surface and transports it upward to the position directly above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to the green block to align its central hole with the purple stem on the target bottle, gradually fitting the block onto the stem."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand lowers the green block along the purple stem to place it on the top of the target bottle where it is supported, then opens fingers to release the block."}], "episode_index": 14}
+{"source_uid": "deb824644b12a367", "num_frames": 3093, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers: Left hand slightly adjusts its fingers at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "9db2b7cd-247c-4805-a6c2-92889c61977a"}, {"label": "valid", "start_step": 0, "end_step": 3067, "id": "iwC34Qjcp33HKMH9hP1j0"}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 151, "end_step": 275, "id": "f934b846-96f7-4691-bc02-bb462eff9741"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the peg of the assembly rack and releases it."}, {"label": "goal", "start_step": 276, "end_step": 390, "id": "14d7b880-ea38-44af-8dbd-8cb77cc9e3d7"}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without any observable movement."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 391, "end_step": 510, "id": "d5f4e14b-d78c-45e8-832b-7d40ac1cb8dc"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack by aligning and pressing it down."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers to separate from the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 511, "end_step": 625, "id": "762bb36a-b0dd-48a2-8953-55e6d6705bb1"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 626, "end_step": 820, "id": "c56306bd-5ddc-47ff-8959-f0868834fc36"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the test tube rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening from closed position."}, {"label": "goal", "start_step": 821, "end_step": 930, "id": "2e4b9fad-df17-4b6e-9617-ee4885b047a4"}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 931, "end_step": 1085, "id": "9b03db51-dc9b-4f58-8c0f-cdabb34c42a1"}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table, moving downward from the area beside the wooden base."}, {"label": "goal", "start_step": 1086, "end_step": 1165, "id": "d6c818a8-f19b-4af8-8bef-29d4c32f7b36"}, {"label": "subtasks", "start_step": 1118, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1166, "end_step": 1795, "id": "65995ce5-44ca-494e-b799-3551ef089a83"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the area above the pegs on the wooden board."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left peg of the wooden board, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the front-left peg and transports it above the adjacent middle peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the middle peg and transports it above the front-right peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-right peg of the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the front-right peg and transports it above a back peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the back peg of the wooden board."}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the back peg and transports it above the rightmost peg area."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto a peg at the right side of the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and transports it to an adjacent peg position."}, {"label": "subtasks", "start_step": 1628, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the adjacent peg of the wooden board."}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and transports it to another adjacent peg position."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and adjusts its horizontal position."}, {"label": "subtasks", "start_step": 1778, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block back onto the peg of the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1796, "end_step": 1995, "id": "d688e602-c056-42f9-9e7d-59d82f9d5ead"}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves closer to the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table surface and moves it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1996, "end_step": 2150, "id": "621170be-78dd-4502-a930-319842f39787"}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal part with fingers opening to separate from the part."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple peg on the wooden board and releases it."}, {"label": "goal", "start_step": 2151, "end_step": 2255, "id": "88a9ac47-19f3-47d5-b984-67cb61efb88a"}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 2256, "end_step": 2390, "id": "c062a96b-f293-4c1b-8af0-9f12c2e23a2b"}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the upper part of the purple rod without moving."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal block down along the purple rod toward the green block below."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cap onto the top of the rightmost column on the wooden base."}, {"label": "goal", "start_step": 2391, "end_step": 2480, "id": "7f7a4f49-b934-49d6-8b63-511ef31c0081"}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right area of the black table without moving."}, {"label": "goal", "start_step": 2481, "end_step": 2665, "id": "49efc70b-3578-40cf-9b0f-bdaa3464f4d2"}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2654, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod and fits it down onto the rod to form an assembly relation."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white ring down to the bottom of the purple-topped peg on the right side of the wooden base and releases the ring."}, {"label": "goal", "start_step": 2666, "end_step": 2775, "id": "a878ea18-2f72-4fd8-8430-6e2a7cc0ad69"}, {"label": "subtasks", "start_step": 2678, "end_step": 2729, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2774, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring-shaped block from the right table surface and transports it to the upper area of the rightmost front bottle on the wooden rack."}, {"label": "goal", "start_step": 2776, "end_step": 3000, "id": "86fd464a-35fd-4f5b-aa44-f27c9b171fb4"}, {"label": "subtasks", "start_step": 2828, "end_step": 2849, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green ring-shaped block with the purple rod on the rightmost front bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2850, "end_step": 3014, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring-shaped block on the rightmost front bottle without moving."}, {"label": "home", "start_step": 3068, "end_step": 3092, "id": "9cEz8olVOaRt68Onu5kaa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers: Left hand slightly adjusts its fingers at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the left of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the peg of the assembly rack and releases it."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without any observable movement."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack by aligning and pressing it down."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers to separate from the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the test tube rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening from closed position."}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table, moving downward from the area beside the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the area above the pegs on the wooden board."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left peg of the wooden board, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the front-left peg and transports it above the adjacent middle peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the middle peg and transports it above the front-right peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-right peg of the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the front-right peg and transports it above a back peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the back peg of the wooden board."}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the back peg and transports it above the rightmost peg area."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto a peg at the right side of the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and transports it to an adjacent peg position."}, {"label": "subtasks", "start_step": 1628, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the adjacent peg of the wooden board."}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and transports it to another adjacent peg position."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and adjusts its horizontal position."}, {"label": "subtasks", "start_step": 1778, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block back onto the peg of the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves closer to the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table surface and moves it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal part with fingers opening to separate from the part."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple peg on the wooden board and releases it."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the upper part of the purple rod without moving."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal block down along the purple rod toward the green block below."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cap onto the top of the rightmost column on the wooden base."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right area of the black table without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2654, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod and fits it down onto the rod to form an assembly relation."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white ring down to the bottom of the purple-topped peg on the right side of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 2678, "end_step": 2729, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2774, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring-shaped block from the right table surface and transports it to the upper area of the rightmost front bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2828, "end_step": 2849, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green ring-shaped block with the purple rod on the rightmost front bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2850, "end_step": 3014, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring-shaped block on the rightmost front bottle without moving."}], "episode_index": 15}
+{"source_uid": "477dcf60e9b93f94", "num_frames": 2812, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table near the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "f7946b39-577b-4ae4-b54e-0808d8b18cfe"}, {"label": "valid", "start_step": 0, "end_step": 2786, "id": "WSEBIsYaVNLuBQFTt2687"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table near the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers and adjusts to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 171, "end_step": 315, "id": "9dffb4b8-6f9d-4f06-9f99-3dc8046a5f03"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it above the target purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the target purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block mated on the purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 316, "end_step": 440, "id": "1744ba15-7b31-4b5e-adfc-462baf001687"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the green block on the table, no contact made yet."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 441, "end_step": 590, "id": "8c4a03d8-4c2a-4d9b-87c1-fb66b1fc409f"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the top left purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the top left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden block assembly rack towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 591, "end_step": 705, "id": "80a149b1-d7f7-4b13-bf71-322e11627628"}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 706, "end_step": 990, "id": "603c25f9-e1c2-4b6a-9c4c-a067990036be"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 750, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the target purple rod on the wooden rack and releases the block after proper fitting."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 991, "end_step": 1110, "id": "aca4f6c2-02a4-403b-8c66-092448eba414"}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple peg on the wooden rack."}, {"label": "goal", "start_step": 1111, "end_step": 1265, "id": "32fe7285-a7a5-4fa4-b555-8407821ce22f"}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple peg and retreats upward slightly."}, {"label": "goal", "start_step": 1266, "end_step": 1355, "id": "fc860ae0-7b5c-4eca-8184-ad1567a7c5eb"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the block assembly rack towards the green square block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table, with slight grip adjustment movements."}, {"label": "goal", "start_step": 1356, "end_step": 1525, "id": "8fe7bd01-5f14-4cd1-b9a2-19548dc37c1b"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and moves it towards the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green cubic block with the white peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the gray cylindrical part placed on the wooden base."}, {"label": "goal", "start_step": 1526, "end_step": 1630, "id": "15111864-77e2-4066-a815-ac284d7f865b"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1631, "end_step": 1895, "id": "d6243342-201f-4fbf-abbb-7974eb2c9c4f"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the green cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the top of the green cylinder."}, {"label": "subtasks", "start_step": 1702, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand adjusts the white hexagonal block to align with and fit onto the green cylinder to complete assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white sleeve onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1896, "end_step": 1995, "id": "26171238-5f25-4bcc-9be6-4ee2c134e469"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to prepare grasping the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1996, "end_step": 2155, "id": "952fecb2-53e2-4eb4-ab5e-7eb8a3a4ec05"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2156, "end_step": 2240, "id": "9bc55af1-721e-4f0b-a7df-ea1ac1f2ffa9"}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand fingers close to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 2241, "end_step": 2420, "id": "792ea720-6f13-4f7c-ab12-7842395dd667"}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hollow block with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the small protrusion on the top of the bottom right white cylinder on the wooden base."}, {"label": "goal", "start_step": 2421, "end_step": 2555, "id": "99a55c9f-c9ce-42a7-9d65-be93dd030ec3"}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand approaches the green block, fingers close to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the black table surface."}, {"label": "goal", "start_step": 2556, "end_step": 2740, "id": "6fb4e842-fcf6-4837-8f32-4b6355264ea5"}, {"label": "subtasks", "start_step": 2565, "end_step": 2601, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2602, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the rightmost white bottle by aligning and inserting it onto the bottle."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the green block which is fitted onto the white bottle."}, {"label": "home", "start_step": 2787, "end_step": 2811, "id": "Lrfcora2Rhlpv89PS7vHP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table near the wooden rack."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table near the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers and adjusts to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it above the target purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the target purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block mated on the purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the green block on the table, no contact made yet."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the top left purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the top left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden block assembly rack towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 750, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the target purple rod on the wooden rack and releases the block after proper fitting."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple peg and retreats upward slightly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the block assembly rack towards the green square block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table, with slight grip adjustment movements."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and moves it towards the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green cubic block with the white peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the gray cylindrical part placed on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the green cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the top of the green cylinder."}, {"label": "subtasks", "start_step": 1702, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand adjusts the white hexagonal block to align with and fit onto the green cylinder to complete assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white sleeve onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to prepare grasping the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand fingers close to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hollow block with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the small protrusion on the top of the bottom right white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand approaches the green block, fingers close to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the black table surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2601, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2602, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the rightmost white bottle by aligning and inserting it onto the bottle."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the green block which is fitted onto the white bottle."}], "episode_index": 16}
+{"source_uid": "c91ed9f148161b43", "num_frames": 3153, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial left-side position to the left home position in front of the body, with fingers slightly adjusting to a relaxed curved posture. | Right hand: reach: Right hand moves empty from its initial right upper position down and left toward the green hexagonal block on the table in front of the wooden peg stand, with fingers extended, without contacting the block."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "022db6d8-eddd-465c-babe-a6bc5110530d"}, {"label": "valid", "start_step": 0, "end_step": 3128, "id": "NIeGvzYwIqoNQbr4rx6Rz"}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves empty from its initial right upper position down and left toward the green hexagonal block on the table in front of the wooden peg stand, with fingers extended, without contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table in front of the wooden peg stand, fingers close and make small positional adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the table, and lifts the block upward until it is completely separated from the table surface."}, {"label": "goal", "start_step": 181, "end_step": 330, "id": "2bdb46a5-4785-4394-876a-52326ec11a39"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted green block, moving it upward and horizontally to position it directly above the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align its central hole with the purple peg, lowers the block to fit it onto the peg, and makes small fine adjustments during the fitting process."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand releases the white cylindrical component on the wooden assembly base, with fingers opening to separate from the component."}, {"label": "goal", "start_step": 331, "end_step": 475, "id": "89048f88-2985-41c2-ba52-138f4e092c63"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to fingers and wrist around the target white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand grips the white hexagonal block on the table surface, lifts it completely off the black table, and carries it to the position directly above the leftmost purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 476, "end_step": 625, "id": "e4276a17-2110-4827-bb01-38fa2e7e7fdd"}, {"label": "subtasks", "start_step": 495, "end_step": 651, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod, moves the block downward to fit it onto the rod until it rests on the supporting green block, with fingers opening to release the assembled block."}, {"label": "goal", "start_step": 626, "end_step": 725, "id": "f292199a-fd21-41cf-a043-730e5ffdbdd9"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the nearby white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers gradually to establish a grip on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 726, "end_step": 940, "id": "de48d2b2-b407-41d5-9eb1-c35687ab0159"}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly over the unoccupied purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 758, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward from the position above the wooden assembly rack toward the closest white hexagonal nut on the nearby table surface, with fingers held open."}, {"label": "goal", "start_step": 941, "end_step": 1040, "id": "a25f48b0-5ad6-400f-a3d6-494690a41ba8"}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusting finger positions and closing fingers around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward from the black table surface."}, {"label": "goal", "start_step": 1041, "end_step": 1325, "id": "5b4309a7-5402-46b9-ac27-53342a00cd0e"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand transports the gripped white hexagonal nut upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its hole with the purple peg, fitting the nut onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which slides down the purple peg to rest on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed on the black table in front of the wooden assembly base, with fingers slightly extended."}, {"label": "goal", "start_step": 1326, "end_step": 1425, "id": "b9b45b62-ebcf-4537-974e-15aaeb4a06e2"}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to insert into the central hole of the green hexagonal nut, closing fingers gradually to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the stably grasped green hexagonal nut upward until the nut is completely off the black table surface."}, {"label": "goal", "start_step": 1426, "end_step": 1665, "id": "48e78869-5397-4eea-ad4b-e23d7be34ae5"}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block up and toward the purple rod mounted on the wooden base, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1664, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple rod, lowering the block gradually to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: place: Right hand lowers the mated green hexagonal block down along the purple rod until the block rests stably on the green block below."}, {"label": "goal", "start_step": 1666, "end_step": 1780, "id": "54d36989-3a02-4159-87d7-3c0647d8be08"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downwards from the area above the wooden block set towards the white hexagonal nut on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1725, "end_step": 1791, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand approaches the white hexagonal nut on the table, makes contact with the nut, closes fingers around it and performs minor finger adjustments to establish a grip."}, {"label": "goal", "start_step": 1781, "end_step": 2000, "id": "132d43ba-c7ea-4ea0-bc1f-842c2fd7b5cf"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it toward the wooden block rack."}, {"label": "subtasks", "start_step": 1815, "end_step": 1979, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack and lowers the block to fit onto the rod, seating it on the stacked block below."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod of the wooden rack without observable movement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical part on the wooden assembly stand, losing contact with the part."}, {"label": "goal", "start_step": 2001, "end_step": 2180, "id": "af88cbf1-6a74-4289-9af7-370a41e9f22e"}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves rightward and downward toward the white hexagonal nut placed on the black table surface near the assembly stand, remaining empty before contact."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes repeated small adjustments to finger positions, closing fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface, with no visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand grips the white hexagonal cylinder resting on the table surface and lifts it upward until the cylinder is fully separated from the table."}, {"label": "goal", "start_step": 2181, "end_step": 2485, "id": "01f1ff17-60e1-4802-9b27-0a65253eff44"}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder upward and leftward toward the empty slot on the wooden assembly block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand holds the white hexagonal cylinder above the empty slot, making small positional and rotational adjustments to align the cylinder with the target slot."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: place_release: Right hand lowers the aligned white hexagonal cylinder toward the slot, opens fingers to release the grip, and the cylinder settles stably on the wooden block base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table, staying empty and out of contact with the nut."}, {"label": "goal", "start_step": 2486, "end_step": 2590, "id": "051cd635-07d8-46b8-bcdc-db748011d6fa"}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and adjust position to form a grip on the nut."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block stationary on the dark gray table surface."}, {"label": "goal", "start_step": 2591, "end_step": 2775, "id": "58fb717c-04b0-4003-8380-ac93d38d0d34"}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it fully separates from the table surface."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block through the air toward the wooden component rack."}, {"label": "subtasks", "start_step": 2640, "end_step": 2774, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod on the wooden rack, fits the block onto the rod, opens fingers to release the block."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: idle: Right hand remains empty near the white bottle rack without observable position or posture change."}, {"label": "goal", "start_step": 2776, "end_step": 2885, "id": "b6d8cc86-7d94-4319-9046-02e087f40379"}, {"label": "subtasks", "start_step": 2798, "end_step": 2819, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves down-right toward the green cube on the table surface, staying empty as it approaches the cube without contact."}, {"label": "subtasks", "start_step": 2820, "end_step": 2879, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to establish contact and form a grip on the cube."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal block straight upward from the black table surface until the block is fully lifted off the table."}, {"label": "goal", "start_step": 2886, "end_step": 3050, "id": "9a54fe26-67dd-419c-b2ec-e2037a05136c"}, {"label": "subtasks", "start_step": 2902, "end_step": 2947, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand transports the green block upward and leftward to the position directly above the purple-capped white bottle on the wooden stand, making small positional adjustments."}, {"label": "subtasks", "start_step": 2948, "end_step": 2991, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the green block steadily above the purple-capped white bottle without any visible movement."}, {"label": "subtasks", "start_step": 2992, "end_step": 3059, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand lowers the green block, aligns its central hole with the top of the purple-capped white bottle, and fits the block securely onto the bottle."}, {"label": "home", "start_step": 3129, "end_step": 3152, "id": "frEXz5UrKcV7Be0QlcD7k"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial left-side position to the left home position in front of the body, with fingers slightly adjusting to a relaxed curved posture. | Right hand: reach: Right hand moves empty from its initial right upper position down and left toward the green hexagonal block on the table in front of the wooden peg stand, with fingers extended, without contacting the block."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves empty from its initial right upper position down and left toward the green hexagonal block on the table in front of the wooden peg stand, with fingers extended, without contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table in front of the wooden peg stand, fingers close and make small positional adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the table, and lifts the block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted green block, moving it upward and horizontally to position it directly above the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align its central hole with the purple peg, lowers the block to fit it onto the peg, and makes small fine adjustments during the fitting process."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand releases the white cylindrical component on the wooden assembly base, with fingers opening to separate from the component."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to fingers and wrist around the target white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand grips the white hexagonal block on the table surface, lifts it completely off the black table, and carries it to the position directly above the leftmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 495, "end_step": 651, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod, moves the block downward to fit it onto the rod until it rests on the supporting green block, with fingers opening to release the assembled block."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the nearby white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers gradually to establish a grip on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly over the unoccupied purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 758, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward from the position above the wooden assembly rack toward the closest white hexagonal nut on the nearby table surface, with fingers held open."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusting finger positions and closing fingers around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward from the black table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand transports the gripped white hexagonal nut upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its hole with the purple peg, fitting the nut onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which slides down the purple peg to rest on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed on the black table in front of the wooden assembly base, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to insert into the central hole of the green hexagonal nut, closing fingers gradually to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the stably grasped green hexagonal nut upward until the nut is completely off the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block up and toward the purple rod mounted on the wooden base, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1664, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple rod, lowering the block gradually to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: place: Right hand lowers the mated green hexagonal block down along the purple rod until the block rests stably on the green block below."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downwards from the area above the wooden block set towards the white hexagonal nut on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1725, "end_step": 1791, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand approaches the white hexagonal nut on the table, makes contact with the nut, closes fingers around it and performs minor finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it toward the wooden block rack."}, {"label": "subtasks", "start_step": 1815, "end_step": 1979, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack and lowers the block to fit onto the rod, seating it on the stacked block below."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod of the wooden rack without observable movement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical part on the wooden assembly stand, losing contact with the part."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves rightward and downward toward the white hexagonal nut placed on the black table surface near the assembly stand, remaining empty before contact."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes repeated small adjustments to finger positions, closing fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface, with no visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand grips the white hexagonal cylinder resting on the table surface and lifts it upward until the cylinder is fully separated from the table."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder upward and leftward toward the empty slot on the wooden assembly block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand holds the white hexagonal cylinder above the empty slot, making small positional and rotational adjustments to align the cylinder with the target slot."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: place_release: Right hand lowers the aligned white hexagonal cylinder toward the slot, opens fingers to release the grip, and the cylinder settles stably on the wooden block base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table, staying empty and out of contact with the nut."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and adjust position to form a grip on the nut."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block stationary on the dark gray table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it fully separates from the table surface."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block through the air toward the wooden component rack."}, {"label": "subtasks", "start_step": 2640, "end_step": 2774, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod on the wooden rack, fits the block onto the rod, opens fingers to release the block."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: idle: Right hand remains empty near the white bottle rack without observable position or posture change."}, {"label": "subtasks", "start_step": 2798, "end_step": 2819, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves down-right toward the green cube on the table surface, staying empty as it approaches the cube without contact."}, {"label": "subtasks", "start_step": 2820, "end_step": 2879, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to establish contact and form a grip on the cube."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal block straight upward from the black table surface until the block is fully lifted off the table."}, {"label": "subtasks", "start_step": 2902, "end_step": 2947, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand transports the green block upward and leftward to the position directly above the purple-capped white bottle on the wooden stand, making small positional adjustments."}, {"label": "subtasks", "start_step": 2948, "end_step": 2991, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the green block steadily above the purple-capped white bottle without any visible movement."}, {"label": "subtasks", "start_step": 2992, "end_step": 3059, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand lowers the green block, aligns its central hole with the top of the purple-capped white bottle, and fits the block securely onto the bottle."}], "episode_index": 17}
+{"source_uid": "43cf9066d8a1f509", "num_frames": 2467, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger posture and wrist orientation at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand adjusts its finger posture and wrist orientation at the right side of the table, with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "cedb9703-1592-489f-b49a-1a45ca68759c"}, {"label": "valid", "start_step": 0, "end_step": 2436, "id": "XG26TzAiolQULLvvaHowS"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves left-forward towards the green hexagonal block in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block, closes fingers to establish and adjust the grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 146, "end_step": 340, "id": "53d7e8d3-7281-4970-9d0c-a4a117d0f517"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it towards the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green cubic block with the front purple peg on the wooden base by inserting the block downwards onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 341, "end_step": 445, "id": "f7bd62b6-e1ea-442d-b9a9-5f1c59f8f977"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 446, "end_step": 650, "id": "4a8a2a1c-6a4a-467e-a628-3824c4288b6c"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the leftmost purple post on the test tube rack."}, {"label": "subtasks", "start_step": 480, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the leftmost purple post of the test tube rack."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the top of the rightmost purple peg on the wooden base and releases the piece."}, {"label": "goal", "start_step": 651, "end_step": 745, "id": "1ff29097-8624-4041-8ec1-47253add83ec"}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 746, "end_step": 915, "id": "840d4309-1603-498f-8e0c-15a5f647244e"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the wooden peg rack with purple rods."}, {"label": "subtasks", "start_step": 780, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the front-left purple rod of the peg rack and releases the piece."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats upward and rightward away from the peg rack."}, {"label": "goal", "start_step": 916, "end_step": 1005, "id": "5525cf7f-f051-47bb-9ce8-16d534aa9c27"}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 1006, "end_step": 1170, "id": "27e858f3-2d48-4c23-b3e1-05bbe617b275"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and sliding the block down to the base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block on the purple rod and moves upward slightly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal block on the table, without touching the block."}, {"label": "goal", "start_step": 1171, "end_step": 1265, "id": "1cc2ce02-dadc-4e94-9ecd-753626cf101a"}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1266, "end_step": 1390, "id": "66b71df2-aec1-4957-b398-02f2e8ea4d77"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden rack by aligning the block's hole with the peg and lowering the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1391, "end_step": 1470, "id": "26d19c92-b5e7-426a-8a49-35ffc24ddfd8"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the assembly rack toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 1471, "end_step": 1655, "id": "66effa13-fb5f-4a04-b1f6-6116c1e39dda"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the purple vertical rod of the wooden rack, aligning the hole and lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hollow hexagonal block, fingers open and separate from the block."}, {"label": "goal", "start_step": 1656, "end_step": 1740, "id": "4caa611c-ad9c-456b-97d9-c5da871c4fae"}, {"label": "subtasks", "start_step": 1672, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1741, "end_step": 1955, "id": "080ab2b0-8b18-4553-88d2-3cddbc43dab4"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and assembles it onto the rod by pushing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the purple rod, with fingers separating from the block."}, {"label": "goal", "start_step": 1956, "end_step": 2030, "id": "8268d0a9-5d9a-4b5e-a44c-b1ebd92cafdf"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right side of the black table without moving."}, {"label": "goal", "start_step": 2031, "end_step": 2160, "id": "b4ec67db-e036-4baf-944d-95b7313be98c"}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward from the black table until the block is fully off the surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hollow hexagonal block and moves leftward toward the wooden bottle rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod on the wooden rack and slides it down onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hollow hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats rightward away from the wooden bottle rack."}, {"label": "goal", "start_step": 2161, "end_step": 2245, "id": "c78f492b-8d62-41ba-a6c6-28e982e23730"}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards toward the green block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow square block on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2246, "end_step": 2385, "id": "b4a27b14-29ba-4402-8adc-0c9de8baf9df"}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the white bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hollow square block with the purple-topped bottle on the right side of the rack and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening to separate from the block."}, {"label": "home", "start_step": 2437, "end_step": 2466, "id": "XQ9S54Smqbbx287I_9B2-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger posture and wrist orientation at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand adjusts its finger posture and wrist orientation at the right side of the table, with no obvious overall displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves left-forward towards the green hexagonal block in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block, closes fingers to establish and adjust the grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it towards the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green cubic block with the front purple peg on the wooden base by inserting the block downwards onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the leftmost purple post on the test tube rack."}, {"label": "subtasks", "start_step": 480, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the leftmost purple post of the test tube rack."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the top of the rightmost purple peg on the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the wooden peg rack with purple rods."}, {"label": "subtasks", "start_step": 780, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the front-left purple rod of the peg rack and releases the piece."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats upward and rightward away from the peg rack."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and sliding the block down to the base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block on the purple rod and moves upward slightly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal block on the table, without touching the block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden rack by aligning the block's hole with the peg and lowering the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the assembly rack toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the purple vertical rod of the wooden rack, aligning the hole and lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hollow hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and assembles it onto the rod by pushing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the purple rod, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward from the black table until the block is fully off the surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hollow hexagonal block and moves leftward toward the wooden bottle rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod on the wooden rack and slides it down onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hollow hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats rightward away from the wooden bottle rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards toward the green block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow square block on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the white bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hollow square block with the purple-topped bottle on the right side of the rack and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening to separate from the block."}], "episode_index": 18}
+{"source_uid": "d995bc369df243a6", "num_frames": 2406, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its hand and finger posture at the left side of the frame without contacting any object. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "18714830-52bd-43c4-90f8-3fc4833b7ef8"}, {"label": "valid", "start_step": 0, "end_step": 2373, "id": "HdQ7P-etM_TR7zK76D7VW"}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 156, "end_step": 295, "id": "f4be6bfe-e377-43cf-99fe-f6dc897becd9"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: transport: Right hand transports the green block to the position above the rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand inserts the green block onto the rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden rack."}, {"label": "goal", "start_step": 296, "end_step": 375, "id": "fb2e1e69-0ffc-4220-bc59-f8e65ccd5b87"}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 376, "end_step": 510, "id": "08960a35-53fb-423b-9f88-e07b5bab9131"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it to the position above the frontmost purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand aligns the white hexagonal nut with the frontmost purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pillar to secure it in place."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves from the wooden assembly board area toward the white hexagonal block on the lower part of the desktop."}, {"label": "goal", "start_step": 511, "end_step": 585, "id": "a6a290df-146f-4749-ba72-943f1a9b89c7"}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers close and adjust to form a stable grasp."}, {"label": "goal", "start_step": 586, "end_step": 795, "id": "85b4aeb6-2bc4-474b-9455-8421e6a07f25"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the white hexagonal object fitted on the purple rod."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: idle: Right hand remains empty above the test tube rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 796, "end_step": 890, "id": "89733534-59c4-45b1-8452-4d02dd5e3e59"}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden tray."}, {"label": "goal", "start_step": 891, "end_step": 1050, "id": "7dcdf05b-fe80-4c02-9208-a809ddfb7844"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 1051, "end_step": 1140, "id": "34cddbb6-af84-4d07-a0bf-639d59eda21d"}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the green hexagonal block, with fingers closing around the block to form stable contact."}, {"label": "goal", "start_step": 1141, "end_step": 1300, "id": "2e2b0969-0161-4847-86c6-0530c046a9f5"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the green block with the purple rod by lowering it down along the rod."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the green block which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1301, "end_step": 1375, "id": "5492372d-aceb-4f72-b393-aa65b71cd1d1"}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach_grasp: Right hand reaches toward the green hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1376, "end_step": 1510, "id": "b178a8c0-b7aa-438f-89b7-8dea09a0fd81"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white ring onto the purple vertical post on the wooden board."}, {"label": "goal", "start_step": 1511, "end_step": 1580, "id": "ffe4b047-e1be-4a41-bdac-1ef5cc78a6da"}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: retreat: Right hand retreats away from the wooden board towards the white ring on the black table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches towards the white ring on the black table near the wooden board."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers adjust to form stable grip."}, {"label": "goal", "start_step": 1581, "end_step": 1690, "id": "999bd557-9dc8-4ddc-9db5-c92001420c71"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches toward the white ring block on the table surface."}, {"label": "goal", "start_step": 1691, "end_step": 1750, "id": "60f12ad4-3685-4bc7-98f9-9618cb696224"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white ring block on the table surface with fingers closing."}, {"label": "goal", "start_step": 1751, "end_step": 2085, "id": "bc291e67-8055-4edd-83d7-cfbaac398695"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white ring block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white ring block onto the purple rod by aligning and lowering it until the block is fully seated on the rod."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: retreat: Right hand retreats slightly away from the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the green block on the right part of the table."}, {"label": "goal", "start_step": 2086, "end_step": 2175, "id": "51b29c9c-17cc-4787-a9f2-aeafb4e517f8"}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: hold: Right hand holds the green square block on the right side of the table without moving."}, {"label": "goal", "start_step": 2176, "end_step": 2335, "id": "f89898c5-2406-40af-86c7-8719bdb7d904"}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it towards the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the green square block onto the top of the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the green square block from its grip."}, {"label": "home", "start_step": 2374, "end_step": 2405, "id": "01Mz4QnmLiMh7MRkxwrhW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its hand and finger posture at the left side of the frame without contacting any object. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: transport: Right hand transports the green block to the position above the rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand inserts the green block onto the rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it to the position above the frontmost purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand aligns the white hexagonal nut with the frontmost purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pillar to secure it in place."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves from the wooden assembly board area toward the white hexagonal block on the lower part of the desktop."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers close and adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the white hexagonal object fitted on the purple rod."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: idle: Right hand remains empty above the test tube rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the green hexagonal block, with fingers closing around the block to form stable contact."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the green block with the purple rod by lowering it down along the rod."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the green block which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach_grasp: Right hand reaches toward the green hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white ring onto the purple vertical post on the wooden board."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: retreat: Right hand retreats away from the wooden board towards the white ring on the black table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches towards the white ring on the black table near the wooden board."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers adjust to form stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches toward the white ring block on the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white ring block on the table surface with fingers closing."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white ring block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white ring block onto the purple rod by aligning and lowering it until the block is fully seated on the rod."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: retreat: Right hand retreats slightly away from the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the green block on the right part of the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: hold: Right hand holds the green square block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it towards the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the green square block onto the top of the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the green square block from its grip."}], "episode_index": 19}
+{"source_uid": "6858aa655d4a6846", "num_frames": 2824, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts wrist angle and finger curvature while remaining empty on the left side of the workspace, with no obvious translational movement toward any operational target. | Right hand: reach: Right hand moves translationally from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg stand, with fingers held slightly extended as it approaches the target."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "3ce977d5-03dd-4398-87fe-5a30edd05961"}, {"label": "valid", "start_step": 0, "end_step": 2794, "id": "Ft1FLYfO6Dfs7VTWDvag0"}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves translationally from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg stand, with fingers held slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand contacts the target green hexagonal block, with fingers closing and making subtle positional adjustments to form a stable grip, while the block remains resting on the table surface."}, {"label": "goal", "start_step": 161, "end_step": 290, "id": "7946d0cd-9d83-4561-ac72-97fe5f34603e"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and transports it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg on the wooden base and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement or adjustment."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach_grasp: Right hand moves downward and leftward from the upper pegboard area to the white hexagonal block on the table surface, closing fingers to establish a grasp on the block."}, {"label": "goal", "start_step": 291, "end_step": 380, "id": "e3bc5055-64f0-45b7-9e51-30013c465f3d"}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 381, "end_step": 520, "id": "2b3b2e38-6e8c-469c-9b18-0b13f71e064a"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden base and moves the nut downward to nest it securely onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: place_release: Right hand holds the white-capped hexagonal block, moves it downward to seat it onto the purple peg of the wooden peg board until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 521, "end_step": 615, "id": "1d1b4630-2ef9-42fd-b8a1-a728fa8fc5e6"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves empty downward away from the peg board toward the hexagonal nuts placed on the black table surface, with fingers slightly extended while approaching the targets."}, {"label": "subtasks", "start_step": 562, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around a green hexagonal nut on the table, making minor continuous adjustments to finger and wrist positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 616, "end_step": 765, "id": "1e97a102-edca-49aa-87dc-eea5273ca1a1"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple rod, lowers the nut to fit it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 766, "end_step": 875, "id": "9acc1282-47ab-45f8-8f43-e604a2d3138d"}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, lifts it upward until the nut is completely off the table."}, {"label": "goal", "start_step": 876, "end_step": 1095, "id": "6945871d-48ac-485e-8e2c-a4fb30f13bd2"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: transport: Right hand carries the airborne white hexagonal nut, moves it upward and rightward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut fitted on the purple rod, fully separating from the nut."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand rests on the topmost placed white cylindrical block on the stacking base without moving."}, {"label": "goal", "start_step": 1096, "end_step": 1240, "id": "cfb39a2b-5eb3-4315-9041-7d3fcdddc3f1"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the nearby green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grasp on the block."}, {"label": "goal", "start_step": 1241, "end_step": 1380, "id": "481b13de-ce60-483a-a0eb-8849b2ac35cf"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface, moving the block upward toward the wooden block assembly base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the empty purple rod on the wooden base, lowering the block to fit it onto the rod until it rests stably on the supporting block below."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens fingers to release its grip on the green hexagonal block seated on the purple rod."}, {"label": "goal", "start_step": 1381, "end_step": 1485, "id": "ba9f19a8-301f-4aa4-9460-c0476abd0224"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1418, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table, forming a grasp while the nut remains on the support surface."}, {"label": "goal", "start_step": 1486, "end_step": 1970, "id": "87091949-d48e-4751-ba50-bd3d00a133a4"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly base, making small rotational and positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens fingers to release contact with the white block on the top of the wooden assembly stand."}, {"label": "goal", "start_step": 1971, "end_step": 2150, "id": "897a8c97-7c46-412c-b710-1b7c5111bfa7"}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves down and right toward the loose white hexagonal block on the table surface, with fingers held open as it approaches."}, {"label": "subtasks", "start_step": 2062, "end_step": 2159, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes around the loose white hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 2151, "end_step": 2330, "id": "526bbcd7-40cb-4aea-897e-46d14d1ee65d"}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2324, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the surface of the wooden base."}, {"label": "goal", "start_step": 2331, "end_step": 2410, "id": "f45488f9-dbe2-498f-b75b-c8e58d68990a"}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: retreat: Right hand moves away from the purple cylinder on the wooden assembly stand with an empty hand."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut placed on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 2411, "end_step": 2540, "id": "280c1aef-559c-4573-a7e5-83147ed8114b"}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit securely onto the rod, completing the assembly connection."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, moving slightly away from the assembled object."}, {"label": "goal", "start_step": 2541, "end_step": 2620, "id": "c3efaa63-b7a1-4553-b42c-83336a112b4a"}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the area adjacent to the white cylinder rack toward the small green cube on the dark table surface, with fingers slightly open and no contact with the cube."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the dark table surface to form a grip."}, {"label": "goal", "start_step": 2621, "end_step": 2755, "id": "fa91efd7-f550-474d-ae1e-1b4ebe45fc6c"}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and moves it upward and leftward to the position directly above the target white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2751, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand adjusts the green block's orientation and position to align its central hole with the top of the target white cylinder, then lowers the block to fit it securely onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2759, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens its fingers to release the green block, which is now stably fitted onto the white cylinder."}, {"label": "home", "start_step": 2795, "end_step": 2823, "id": "eAZAFSX_r-AjJl2E5qUIn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts wrist angle and finger curvature while remaining empty on the left side of the workspace, with no obvious translational movement toward any operational target. | Right hand: reach: Right hand moves translationally from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg stand, with fingers held slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves translationally from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg stand, with fingers held slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand contacts the target green hexagonal block, with fingers closing and making subtle positional adjustments to form a stable grip, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and transports it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg on the wooden base and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement or adjustment."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach_grasp: Right hand moves downward and leftward from the upper pegboard area to the white hexagonal block on the table surface, closing fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden base and moves the nut downward to nest it securely onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: place_release: Right hand holds the white-capped hexagonal block, moves it downward to seat it onto the purple peg of the wooden peg board until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves empty downward away from the peg board toward the hexagonal nuts placed on the black table surface, with fingers slightly extended while approaching the targets."}, {"label": "subtasks", "start_step": 562, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around a green hexagonal nut on the table, making minor continuous adjustments to finger and wrist positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple rod, lowers the nut to fit it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, lifts it upward until the nut is completely off the table."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: transport: Right hand carries the airborne white hexagonal nut, moves it upward and rightward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut fitted on the purple rod, fully separating from the nut."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand rests on the topmost placed white cylindrical block on the stacking base without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the nearby green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface, moving the block upward toward the wooden block assembly base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the empty purple rod on the wooden base, lowering the block to fit it onto the rod until it rests stably on the supporting block below."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens fingers to release its grip on the green hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1418, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table, forming a grasp while the nut remains on the support surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly base, making small rotational and positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens fingers to release contact with the white block on the top of the wooden assembly stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves down and right toward the loose white hexagonal block on the table surface, with fingers held open as it approaches."}, {"label": "subtasks", "start_step": 2062, "end_step": 2159, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes around the loose white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2324, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: retreat: Right hand moves away from the purple cylinder on the wooden assembly stand with an empty hand."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut placed on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit securely onto the rod, completing the assembly connection."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, moving slightly away from the assembled object."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the area adjacent to the white cylinder rack toward the small green cube on the dark table surface, with fingers slightly open and no contact with the cube."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and moves it upward and leftward to the position directly above the target white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2751, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand adjusts the green block's orientation and position to align its central hole with the top of the target white cylinder, then lowers the block to fit it securely onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2759, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens its fingers to release the green block, which is now stably fitted onto the white cylinder."}], "episode_index": 20}
+{"source_uid": "75746a650160e0e5", "num_frames": 2979, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from the left initial position toward the upper area above the central wooden block stand with fingers extended, remaining empty without touching any object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut in front of the wooden block stand with fingers extended, remaining empty without touching the nut."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "940cc006-d778-4f06-bb73-01d234a95415"}, {"label": "valid", "start_step": 0, "end_step": 2954, "id": "KVBmCqdEP6Vl6i5urvKxh"}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand contacts the green hexagonal nut in front of the wooden block stand, adjusting finger positions and closing fingers to establish a stable grasp."}, {"label": "goal", "start_step": 131, "end_step": 295, "id": "0ad884e5-ea08-4ca5-9eaf-c26b566a1741"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the black table surface and moves it upward to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden assembly base, lowers the block to slide it down the peg, and makes small positional adjustments to fit the block into the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table in front of the wooden pegboard, with fingers held open."}, {"label": "goal", "start_step": 296, "end_step": 385, "id": "051211ce-eded-4ec6-b0da-4f8c4b23b598"}, {"label": "subtasks", "start_step": 322, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and making slight positional adjustments to form a grip on the nut."}, {"label": "goal", "start_step": 386, "end_step": 580, "id": "7fdbd86c-4560-4c74-baff-80452ec148c3"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward and horizontally to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut and adjusts its position to fit it onto the rod."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple peg above the green block on the wooden stand, opening fingers to release the stably supported block."}, {"label": "goal", "start_step": 581, "end_step": 680, "id": "949c4eba-4218-4483-8d92-73f37eb1ed2e"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downward from the wooden stand area toward the front white hexagonal block resting on the black table."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "goal", "start_step": 681, "end_step": 975, "id": "7762cf5c-55f7-4898-a386-1f97e8acfaf6"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand moves the grasped white hexagonal nut toward the wooden block assembly, positioning the nut directly above one purple rod on the assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, makes small positional adjustments, and slides the nut down the rod until it rests on the green base component."}, {"label": "subtasks", "start_step": 975, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward from above the wooden peg base toward the white hexagonal block placed on the table surface near the base."}, {"label": "goal", "start_step": 976, "end_step": 1065, "id": "0e24acd7-cdb3-4977-8852-d6ca741348c0"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table, with small finger and wrist movements to form a stable grasp."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand holds the white hexagonal nut, moves it toward the wooden base to position it directly above the target purple rod."}, {"label": "goal", "start_step": 1066, "end_step": 1245, "id": "9b421bfc-be37-48b7-a4dc-aba2b7583517"}, {"label": "subtasks", "start_step": 1118, "end_step": 1237, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place: Right hand lowers the white hexagonal nut further along the purple rod until the nut rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1246, "end_step": 1400, "id": "1598d05e-0818-4b05-9959-7ac921d324fc"}, {"label": "subtasks", "start_step": 1275, "end_step": 1417, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes slight continuous adjustments to finger and wrist positions around the green hexagonal block on the table, with fine finger movements to establish a stable grasp of the block."}, {"label": "goal", "start_step": 1401, "end_step": 1755, "id": "296af2b9-f4d2-4ae5-a8be-6c9f34748134"}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: hold: Right hand holds the green hexagonal block steadily above the purple rod without any observable movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1687, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reorient: Right hand makes small rotational and positional adjustments to the green hexagonal block, rotating it slightly to align its central hole with the purple rod below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place: Right hand moves the aligned green hexagonal block downward along the purple rod, lowering it until it rests stably on the white block beneath it on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple post, separating from the block."}, {"label": "goal", "start_step": 1756, "end_step": 1870, "id": "cd77d22e-196e-475f-9699-49fe737a8691"}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a grasp."}, {"label": "goal", "start_step": 1871, "end_step": 2010, "id": "271fd7dd-070b-40dc-ac61-c54488609d3a"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table, then moves it upward and toward the wooden assembly stand to position it above the purple rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 2009, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand, moves the block downward to nest it onto the rod while adjusting its position for proper fit."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves from above the wooden bottle holder downwards and rightwards toward the upper white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "goal", "start_step": 2011, "end_step": 2100, "id": "63156918-3ccc-4014-9031-7b62a9bcaadf"}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut on the table, closing fingers and adjusting contact positions to establish a grip on the nut."}, {"label": "goal", "start_step": 2101, "end_step": 2290, "id": "1a3b5d58-cd46-4fb8-aba9-99432348684a"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to position above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2145, "end_step": 2271, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple rod, and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod to rest on the existing nut below, then opens fingers to release the nut."}, {"label": "goal", "start_step": 2291, "end_step": 2470, "id": "65fba59f-a03d-46f9-9e34-69807b272f9e"}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward empty from the wooden block stand toward the green block resting on the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: push: Right hand contacts the green block on the table, pushing it to tilt to one side while remaining in contact with the block."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves from the green block position toward the adjacent white hexagonal nut on the table, adjusting finger positions to approach the nut without forming a grasp."}, {"label": "subtasks", "start_step": 2460, "end_step": 2527, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple mounting rod on the wooden block rack."}, {"label": "goal", "start_step": 2471, "end_step": 2640, "id": "323fe3bc-2aa7-4edf-830e-7225a55e110d"}, {"label": "subtasks", "start_step": 2528, "end_step": 2631, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple mounting rod, lowering the block to fit onto the rod until it rests on the base block on the rack."}, {"label": "subtasks", "start_step": 2632, "end_step": 2639, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating the hand from the placed block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downwards and rightwards to approach the green square block on the dark table surface."}, {"label": "goal", "start_step": 2641, "end_step": 2720, "id": "f317984b-01a4-44d3-b253-a2d45f483a40"}, {"label": "subtasks", "start_step": 2692, "end_step": 2744, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand closes fingers around the green square block, adjusting finger positions to establish grip on the object."}, {"label": "goal", "start_step": 2721, "end_step": 2915, "id": "68c1ef2c-d663-47aa-bcc4-1bc4586e089b"}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and transports it upward to the position directly above the target white bottle cap on the wooden block holder."}, {"label": "subtasks", "start_step": 2775, "end_step": 2901, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green block to align its central hole with the top of the target white bottle cap."}, {"label": "subtasks", "start_step": 2902, "end_step": 2924, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the aligned green block onto the target white bottle cap and opens fingers to release the block, leaving it seated on the cap."}, {"label": "home", "start_step": 2955, "end_step": 2978, "id": "R3fHJwBp7crNrjPwcAWxh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from the left initial position toward the upper area above the central wooden block stand with fingers extended, remaining empty without touching any object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut in front of the wooden block stand with fingers extended, remaining empty without touching the nut."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand contacts the green hexagonal nut in front of the wooden block stand, adjusting finger positions and closing fingers to establish a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the black table surface and moves it upward to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden assembly base, lowers the block to slide it down the peg, and makes small positional adjustments to fit the block into the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table in front of the wooden pegboard, with fingers held open."}, {"label": "subtasks", "start_step": 322, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and making slight positional adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward and horizontally to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut and adjusts its position to fit it onto the rod."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple peg above the green block on the wooden stand, opening fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downward from the wooden stand area toward the front white hexagonal block resting on the black table."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand moves the grasped white hexagonal nut toward the wooden block assembly, positioning the nut directly above one purple rod on the assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, makes small positional adjustments, and slides the nut down the rod until it rests on the green base component."}, {"label": "subtasks", "start_step": 975, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward from above the wooden peg base toward the white hexagonal block placed on the table surface near the base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table, with small finger and wrist movements to form a stable grasp."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand holds the white hexagonal nut, moves it toward the wooden base to position it directly above the target purple rod."}, {"label": "subtasks", "start_step": 1118, "end_step": 1237, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place: Right hand lowers the white hexagonal nut further along the purple rod until the nut rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1417, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes slight continuous adjustments to finger and wrist positions around the green hexagonal block on the table, with fine finger movements to establish a stable grasp of the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: hold: Right hand holds the green hexagonal block steadily above the purple rod without any observable movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1687, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reorient: Right hand makes small rotational and positional adjustments to the green hexagonal block, rotating it slightly to align its central hole with the purple rod below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place: Right hand moves the aligned green hexagonal block downward along the purple rod, lowering it until it rests stably on the white block beneath it on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple post, separating from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a grasp."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table, then moves it upward and toward the wooden assembly stand to position it above the purple rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 2009, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand, moves the block downward to nest it onto the rod while adjusting its position for proper fit."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves from above the wooden bottle holder downwards and rightwards toward the upper white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut on the table, closing fingers and adjusting contact positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to position above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2145, "end_step": 2271, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple rod, and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod to rest on the existing nut below, then opens fingers to release the nut."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward empty from the wooden block stand toward the green block resting on the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: push: Right hand contacts the green block on the table, pushing it to tilt to one side while remaining in contact with the block."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves from the green block position toward the adjacent white hexagonal nut on the table, adjusting finger positions to approach the nut without forming a grasp."}, {"label": "subtasks", "start_step": 2460, "end_step": 2527, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple mounting rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2528, "end_step": 2631, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple mounting rod, lowering the block to fit onto the rod until it rests on the base block on the rack."}, {"label": "subtasks", "start_step": 2632, "end_step": 2639, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating the hand from the placed block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downwards and rightwards to approach the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2692, "end_step": 2744, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand closes fingers around the green square block, adjusting finger positions to establish grip on the object."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and transports it upward to the position directly above the target white bottle cap on the wooden block holder."}, {"label": "subtasks", "start_step": 2775, "end_step": 2901, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green block to align its central hole with the top of the target white bottle cap."}, {"label": "subtasks", "start_step": 2902, "end_step": 2924, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the aligned green block onto the target white bottle cap and opens fingers to release the block, leaving it seated on the cap."}], "episode_index": 21}
+{"source_uid": "612e3c13382e4658", "num_frames": 2723, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly bends its fingers to adjust posture at the left side of the table, remaining empty and not contacting any object. | Right hand: reach: Right hand moves leftwards toward the green hexagonal block on the black table, remaining empty and not contacting the object."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "909ee246-1bd2-4d24-b451-da922dca7feb"}, {"label": "valid", "start_step": 0, "end_step": 2692, "id": "wgZEB0U-z5IhyF5E_KPIE"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves leftwards toward the green hexagonal block on the black table, remaining empty and not contacting the object."}, {"label": "subtasks", "start_step": 82, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 161, "end_step": 310, "id": "6c9ee878-ecb4-44a6-a15f-fe5e6b104027"}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "goal", "start_step": 311, "end_step": 425, "id": "8522b259-9991-4ca1-8286-b3898b7e371c"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable contact."}, {"label": "goal", "start_step": 426, "end_step": 560, "id": "4a1d82a9-89e6-4101-89c7-a51719ec5232"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place: Right hand places the white hexagonal nut onto the top end of the purple rod."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by pressing it down along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white block placed on the purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 561, "end_step": 670, "id": "4688d8a3-6db4-4751-b947-b2ae3d8981dd"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block."}, {"label": "goal", "start_step": 671, "end_step": 855, "id": "59197d91-b72d-48c1-8f85-46f6a925c2f9"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the test tube rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the white hexagonal object with the top of the target purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 735, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: press: Right hand presses the white hexagonal object down along the purple rod to fit it in place."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 856, "end_step": 965, "id": "3cddd7c6-9a39-40db-87af-2b15306d4dea"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 966, "end_step": 1280, "id": "10202f37-68a1-4cfe-a08f-1187c470efe8"}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1267, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple post."}, {"label": "goal", "start_step": 1281, "end_step": 1410, "id": "e42493bd-f9ff-4e62-87c8-4d5fcc0bafa0"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downwards towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1411, "end_step": 1585, "id": "30463d92-5f9f-45d5-9f38-cf084991b24b"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift: Right hand lifts the green hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the green block towards the upper part of the white peg on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the white peg."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: press: Right hand presses the green block down along the white peg until it is fully seated."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the green block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 1586, "end_step": 1680, "id": "1c326463-14c7-4f27-b733-aed2e8a5518c"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1681, "end_step": 1865, "id": "adab5df8-10a9-4fac-b3de-34daffa9e6f9"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with multiple posts."}, {"label": "subtasks", "start_step": 1740, "end_step": 1859, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal block onto the corresponding post on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 1866, "end_step": 1970, "id": "1689e2a4-d9d9-40f4-b4f7-7359431b25f5"}, {"label": "subtasks", "start_step": 1890, "end_step": 1964, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves towards the small white hollow cylinder on the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the small white hollow cylinder on the table."}, {"label": "goal", "start_step": 1971, "end_step": 2135, "id": "db4053ea-deba-4630-a3c8-6526f140eed5"}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod, then releases the block."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the grip on the block."}, {"label": "goal", "start_step": 2136, "end_step": 2265, "id": "5d6da648-7d0c-4431-9dab-e061e6bdf8ea"}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 2266, "end_step": 2380, "id": "aa35406c-2f3e-476d-b844-2a5c08b9f6c3"}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases its grip."}, {"label": "goal", "start_step": 2381, "end_step": 2475, "id": "5a221d74-0c15-4b7d-aa31-f8fc84c12abb"}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2476, "end_step": 2629, "id": "f90361c7-296f-47dd-ad86-0df84ed54056"}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to the position above the target white tube with a purple protrusion."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the central hole of the green square block with the purple protrusion on the top of the target white tube."}, {"label": "subtasks", "start_step": 2550, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the green square block onto the target white tube, presses it down to a fitted position, and releases its grip on the block."}, {"label": "home", "start_step": 2693, "end_step": 2722, "id": "uUaTecDOPYmsToxcbgOhQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly bends its fingers to adjust posture at the left side of the table, remaining empty and not contacting any object. | Right hand: reach: Right hand moves leftwards toward the green hexagonal block on the black table, remaining empty and not contacting the object."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves leftwards toward the green hexagonal block on the black table, remaining empty and not contacting the object."}, {"label": "subtasks", "start_step": 82, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable contact."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place: Right hand places the white hexagonal nut onto the top end of the purple rod."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by pressing it down along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white block placed on the purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the test tube rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the white hexagonal object with the top of the target purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 735, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: press: Right hand presses the white hexagonal object down along the purple rod to fit it in place."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1267, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downwards towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift: Right hand lifts the green hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the green block towards the upper part of the white peg on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the white peg."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: press: Right hand presses the green block down along the white peg until it is fully seated."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the green block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with multiple posts."}, {"label": "subtasks", "start_step": 1740, "end_step": 1859, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal block onto the corresponding post on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1964, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves towards the small white hollow cylinder on the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the small white hollow cylinder on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod, then releases the block."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the grip on the block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to the position above the target white tube with a purple protrusion."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the central hole of the green square block with the purple protrusion on the top of the target white tube."}, {"label": "subtasks", "start_step": 2550, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the green square block onto the target white tube, presses it down to a fitted position, and releases its grip on the block."}], "episode_index": 22}
+{"source_uid": "afa3171e8635951d", "num_frames": 2978, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves leftward and downward from its initial right resting position toward the green hexagonal block on the table, with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "45a384c3-320c-4b3f-bf9c-573490abecfc"}, {"label": "valid", "start_step": 0, "end_step": 2952, "id": "THQi_XwinuQqKThm7GWFv"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward until it is fully separated from the table surface."}, {"label": "goal", "start_step": 146, "end_step": 270, "id": "b4b585d9-1532-4671-8f1c-20c3d7ac8ee2"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the green hexagonal block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand adjusts the orientation of the green hexagonal block, aligns its central hole with the purple peg, and moves the block downward to fit onto the peg with minor grip adjustments."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface, with fingers held open."}, {"label": "goal", "start_step": 271, "end_step": 365, "id": "66e4030c-2777-468d-94d4-3f3c8dae6e1d"}, {"label": "subtasks", "start_step": 300, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusting finger positions to close around the nut."}, {"label": "goal", "start_step": 366, "end_step": 515, "id": "bf6fd8be-43ce-4f83-9ced-95a89bcb7aff"}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the leftmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 412, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod, makes small positional adjustments, and lowers the block to fit onto the rod in assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place_release: Right hand places the white hexagonal column onto the corresponding rod of the wooden block stand, opening fingers to release the column."}, {"label": "goal", "start_step": 516, "end_step": 610, "id": "2ffe121a-f0dd-449d-987b-6c3f91cbc806"}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden block stand toward the white hexagonal nut on the front table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to contact and grasp the white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 611, "end_step": 1180, "id": "4e874e68-b86c-4961-b5ca-6cec7299c5ab"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 660, "end_step": 1169, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align and fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward and forward from the top of the wooden assembly base toward the white hexagonal nut placed on the table in front of the base, with fingers open and no contact with the target nut."}, {"label": "goal", "start_step": 1181, "end_step": 1365, "id": "5c872078-ac17-4906-9f66-8f9bf3eaeec7"}, {"label": "subtasks", "start_step": 1222, "end_step": 1364, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, fingers adjust contact positions and close gradually to establish a grip, while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully separated from the black table surface."}, {"label": "goal", "start_step": 1366, "end_step": 1565, "id": "6a3ce6d1-cc14-4129-a83a-b77bf31bba80"}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden assembly rack, moving it directly above the target purple peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1559, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple peg until the nut rests stably on the wooden base of the rack."}, {"label": "goal", "start_step": 1566, "end_step": 1675, "id": "48f3407b-ec6b-453b-b8f4-e23bd1f51dcf"}, {"label": "subtasks", "start_step": 1575, "end_step": 1627, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the green hexagonal block on the black table surface, with fingers held slightly open during movement."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and adjusting contact positions to establish a grip on the block."}, {"label": "goal", "start_step": 1676, "end_step": 1830, "id": "951ada1b-9916-4b3f-9a79-ab87187ea542"}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, moving the block upward and toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central aperture of the green hexagonal block with the target purple peg, making small positional adjustments to fit the block onto the peg while lowering it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1829, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place_release: Right hand lowers the green hexagonal block to rest on the supporting block on the peg, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden peg stand toward the green hexagonal object on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 1831, "end_step": 1920, "id": "e3e4bab5-c285-4046-8b21-c403fd833c09"}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal object on the table, adjusting finger positions to close around the object to form a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the black table surface until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1921, "end_step": 2120, "id": "4c4b4ff1-9ef8-4414-b1f3-5089abe263b3"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the white hexagonal nut, moving it upward and toward the top of the target post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2114, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target post, adjusts the nut position slightly, and moves the nut downward to fit it onto the post until the nut rests stably on the lower supporting block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the upper white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "goal", "start_step": 2121, "end_step": 2205, "id": "75ae1b03-620f-4d92-8490-0ed065b2fe06"}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand contacts the upper white hexagonal nut on the table, gradually closing fingers and adjusting contact positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "goal", "start_step": 2206, "end_step": 2375, "id": "efcb0782-3d3e-4d27-95c6-1d79f4d7fa03"}, {"label": "subtasks", "start_step": 2220, "end_step": 2271, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2272, "end_step": 2369, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2421, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the area near the wooden block rack toward the white hexagonal nut resting on the table surface, remaining empty and not yet contacting the target block."}, {"label": "goal", "start_step": 2376, "end_step": 2490, "id": "bdf2fe7c-38ff-43b5-ad52-061ec94d1961"}, {"label": "subtasks", "start_step": 2422, "end_step": 2489, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers around the block and makes continuous slight adjustments to finger positions to establish a secure grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the white hollow cylinder upward and leftward toward the purple peg on the wooden base."}, {"label": "goal", "start_step": 2491, "end_step": 2645, "id": "a6e9fb5b-34bd-4ed9-8113-5cf5670ef862"}, {"label": "subtasks", "start_step": 2528, "end_step": 2617, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hollow cylinder, aligning its central hole with the top of the purple peg."}, {"label": "subtasks", "start_step": 2618, "end_step": 2639, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place: Right hand moves the aligned white hollow cylinder downward along the purple peg, placing it onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: release: Right hand opens fingers to release contact with the white bottle with purple cap placed on the wooden block stand, lifting fingers slightly away from the bottle top."}, {"label": "goal", "start_step": 2646, "end_step": 2755, "id": "f6fb1979-196b-4fcf-8629-a30083a04b40"}, {"label": "subtasks", "start_step": 2655, "end_step": 2707, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward through empty air toward the green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2708, "end_step": 2759, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green square block to establish a stable grasp on the object."}, {"label": "goal", "start_step": 2756, "end_step": 2905, "id": "73e142cf-1356-40be-b5e1-1b77e035d478"}, {"label": "subtasks", "start_step": 2760, "end_step": 2797, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and leftward to the position directly above the target bottle topped with a purple rod."}, {"label": "subtasks", "start_step": 2798, "end_step": 2909, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple rod, moves the block downward to fit it onto the rod until it rests stably on the white bottle cap."}, {"label": "home", "start_step": 2953, "end_step": 2977, "id": "LnkzigUjvYUNVuCNhYpho"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves leftward and downward from its initial right resting position toward the green hexagonal block on the table, with fingers extended."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the green hexagonal block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand adjusts the orientation of the green hexagonal block, aligns its central hole with the purple peg, and moves the block downward to fit onto the peg with minor grip adjustments."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 300, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusting finger positions to close around the nut."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the leftmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 412, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod, makes small positional adjustments, and lowers the block to fit onto the rod in assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place_release: Right hand places the white hexagonal column onto the corresponding rod of the wooden block stand, opening fingers to release the column."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden block stand toward the white hexagonal nut on the front table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to contact and grasp the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 660, "end_step": 1169, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align and fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward and forward from the top of the wooden assembly base toward the white hexagonal nut placed on the table in front of the base, with fingers open and no contact with the target nut."}, {"label": "subtasks", "start_step": 1222, "end_step": 1364, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, fingers adjust contact positions and close gradually to establish a grip, while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden assembly rack, moving it directly above the target purple peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1559, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple peg until the nut rests stably on the wooden base of the rack."}, {"label": "subtasks", "start_step": 1575, "end_step": 1627, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the green hexagonal block on the black table surface, with fingers held slightly open during movement."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and adjusting contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, moving the block upward and toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central aperture of the green hexagonal block with the target purple peg, making small positional adjustments to fit the block onto the peg while lowering it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1829, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place_release: Right hand lowers the green hexagonal block to rest on the supporting block on the peg, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden peg stand toward the green hexagonal object on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal object on the table, adjusting finger positions to close around the object to form a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the black table surface until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the white hexagonal nut, moving it upward and toward the top of the target post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2114, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target post, adjusts the nut position slightly, and moves the nut downward to fit it onto the post until the nut rests stably on the lower supporting block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the upper white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand contacts the upper white hexagonal nut on the table, gradually closing fingers and adjusting contact positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "subtasks", "start_step": 2220, "end_step": 2271, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2272, "end_step": 2369, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2421, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the area near the wooden block rack toward the white hexagonal nut resting on the table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 2422, "end_step": 2489, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers around the block and makes continuous slight adjustments to finger positions to establish a secure grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the white hollow cylinder upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2528, "end_step": 2617, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hollow cylinder, aligning its central hole with the top of the purple peg."}, {"label": "subtasks", "start_step": 2618, "end_step": 2639, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place: Right hand moves the aligned white hollow cylinder downward along the purple peg, placing it onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: release: Right hand opens fingers to release contact with the white bottle with purple cap placed on the wooden block stand, lifting fingers slightly away from the bottle top."}, {"label": "subtasks", "start_step": 2655, "end_step": 2707, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward through empty air toward the green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2708, "end_step": 2759, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green square block to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2797, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and leftward to the position directly above the target bottle topped with a purple rod."}, {"label": "subtasks", "start_step": 2798, "end_step": 2909, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple rod, moves the block downward to fit it onto the rod until it rests stably on the white bottle cap."}], "episode_index": 23}
+{"source_uid": "46ba4d0aa9762900", "num_frames": 2927, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green cubic block in front of the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 165, "id": "81a9886c-a020-4df8-98bb-6f307b9339ee"}, {"label": "valid", "start_step": 0, "end_step": 2895, "id": "1bGHJQ1C6zb60TEX2coTL"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 166, "end_step": 415, "id": "b7493a8a-66ee-463a-b6ef-0d31cc408bb4"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block."}, {"label": "subtasks", "start_step": 248, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost peg of the pegboard and releases it."}, {"label": "goal", "start_step": 416, "end_step": 560, "id": "b471a30a-e786-4503-8d45-c410a7051612"}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the green base of the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 561, "end_step": 750, "id": "535c4758-fc19-4136-9aef-5837cf355e8a"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base and transports it to the position above the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 592, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand fits the white hexagonal block onto the leftmost purple rod of the test tube rack and presses it down along the rod to the bottom green part."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 751, "end_step": 880, "id": "d80274a9-70e5-47b5-98d9-97ff2d7a2e72"}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper pegboard area toward the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 881, "end_step": 1105, "id": "e10f7adb-8183-4e4d-bcdc-7e6a685b6e31"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden rack, aligning and fitting the block onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple post of the assembly rack and releases the ring."}, {"label": "goal", "start_step": 1106, "end_step": 1205, "id": "7d699d41-7882-4f55-9e3d-4745d88d964f"}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the assembly rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder with a central hole on the black table, fingers closing to secure the grip."}, {"label": "goal", "start_step": 1206, "end_step": 1455, "id": "cda36931-75f6-49a8-8d68-8eac83d5634c"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it upward to the position above the purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white hexagonal cylinder downward, aligning its central hole with the purple peg and inserting the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal cylinder, fingers opening to separate from the cylinder."}, {"label": "goal", "start_step": 1456, "end_step": 1550, "id": "60cbbf05-deac-453b-989f-78c69be04562"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1551, "end_step": 1715, "id": "e79cf427-0a85-46ce-a32c-6a0cf327baa6"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "goal", "start_step": 1716, "end_step": 1820, "id": "f60803e6-5e6c-4992-ba55-0aa10707893d"}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the right area of the black table without moving."}, {"label": "goal", "start_step": 1821, "end_step": 2085, "id": "f07b1535-1285-4b0c-893a-24fce1a94d93"}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the wooden rack with multiple pegs."}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the front-middle vertical peg of the wooden rack by moving it downward."}, {"label": "subtasks", "start_step": 1958, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the front-middle vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the purple rod into the corresponding hole on the wooden pegboard and releases the rod."}, {"label": "goal", "start_step": 2086, "end_step": 2185, "id": "c30546cd-f5d9-442a-80cf-5e6bc24c851e"}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden pegboard."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 2186, "end_step": 2310, "id": "6784cf0a-c9cf-40eb-93f3-2cd250bfa8af"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2309, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple object on top of the rightmost cylinder on the wooden base, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 2311, "end_step": 2390, "id": "d1064912-d726-408b-a2fd-51e4c30c453a"}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the white hexagonal object on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the right side of the table without moving."}, {"label": "goal", "start_step": 2391, "end_step": 2605, "id": "72c3e9b4-bd47-4cd0-8169-45f019c5efb8"}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2451, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it onto the rod to establish assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2594, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward along the purple rod to fit it into the final position."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical piece inserted in the rightmost front white bottle on the wooden rack by opening its fingers."}, {"label": "goal", "start_step": 2606, "end_step": 2705, "id": "039b7e98-3184-4d0c-9675-f77172eaf36d"}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table by closing its fingers and adjusting the grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2706, "end_step": 2850, "id": "21f20d58-7b98-4875-b979-b8b11140aa95"}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the bottle with the purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2759, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion of the bottle and inserts it slightly to establish the assembly relationship."}, {"label": "subtasks", "start_step": 2760, "end_step": 2864, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the axial direction of the bottle until it reaches the lower position of the bottle."}, {"label": "home", "start_step": 2896, "end_step": 2926, "id": "96e-WwSgBx1rApoRcQW98"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green cubic block in front of the left side of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block."}, {"label": "subtasks", "start_step": 248, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost peg of the pegboard and releases it."}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the green base of the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base and transports it to the position above the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 592, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand fits the white hexagonal block onto the leftmost purple rod of the test tube rack and presses it down along the rod to the bottom green part."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper pegboard area toward the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden rack, aligning and fitting the block onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple post of the assembly rack and releases the ring."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the assembly rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder with a central hole on the black table, fingers closing to secure the grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it upward to the position above the purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white hexagonal cylinder downward, aligning its central hole with the purple peg and inserting the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal cylinder, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the right area of the black table without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the wooden rack with multiple pegs."}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the front-middle vertical peg of the wooden rack by moving it downward."}, {"label": "subtasks", "start_step": 1958, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the front-middle vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the purple rod into the corresponding hole on the wooden pegboard and releases the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden pegboard."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2309, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple object on top of the rightmost cylinder on the wooden base, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the white hexagonal object on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2451, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it onto the rod to establish assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2594, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward along the purple rod to fit it into the final position."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical piece inserted in the rightmost front white bottle on the wooden rack by opening its fingers."}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table by closing its fingers and adjusting the grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the bottle with the purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2759, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion of the bottle and inserts it slightly to establish the assembly relationship."}, {"label": "subtasks", "start_step": 2760, "end_step": 2864, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the axial direction of the bottle until it reaches the lower position of the bottle."}], "episode_index": 24}
+{"source_uid": "1d93b2159850f6ec", "num_frames": 2439, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward towards the green cube located in front of the wooden rack on the black table."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "a1586ce2-76c3-4f31-a545-ff2a5a1d4293"}, {"label": "valid", "start_step": 0, "end_step": 2406, "id": "qM-MRLjUiLv_2nK7oLXex"}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the black table to establish a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface."}, {"label": "goal", "start_step": 141, "end_step": 295, "id": "e3a5488c-b137-4c64-afe3-d5bae5a46067"}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 195, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "goal", "start_step": 296, "end_step": 380, "id": "c35c4a8e-3ad0-4300-816d-633a32a47456"}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to the position above the front left purple rod on the green base."}, {"label": "goal", "start_step": 381, "end_step": 530, "id": "1c1178c9-50bc-4d03-87bc-d7fc020d46cc"}, {"label": "subtasks", "start_step": 405, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front left purple rod by aligning and lowering the block to fit the rod."}, {"label": "goal", "start_step": 531, "end_step": 620, "id": "eb08b50a-c613-4a61-87ed-9c8ef90c4869"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 621, "end_step": 775, "id": "27971450-ac97-48f6-a96b-fe1676ef37ae"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple post of the assembly rack."}, {"label": "goal", "start_step": 776, "end_step": 855, "id": "0456d8a3-0355-4b9e-b1ec-fc462651500f"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "goal", "start_step": 856, "end_step": 1070, "id": "164ca675-0ba6-48ec-977c-53407d2ea662"}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 922, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1071, "end_step": 1150, "id": "4c8a7ef1-4cb0-472c-b049-d2c55e5439cb"}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "goal", "start_step": 1151, "end_step": 1295, "id": "b1f1cb7c-383f-425a-a432-bbb2dbd5d401"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and inserts it down onto the rod."}, {"label": "goal", "start_step": 1296, "end_step": 1375, "id": "c7c1b831-f04b-4b78-9e7a-7e0c1684cc92"}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod after completing the assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to establish grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 1376, "end_step": 1545, "id": "f1fe8a4d-2863-411d-b795-8aff427ef842"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the green base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1546, "end_step": 1625, "id": "7888912b-10dd-4001-a8e9-819a3011ac9d"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1626, "end_step": 1790, "id": "deabe61a-c8e6-4778-a559-76b43506a8f7"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases the block after it is fitted properly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical cap onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1791, "end_step": 1880, "id": "ffd6c17c-59f4-4a7e-9ea7-bcb76d747ee3"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1881, "end_step": 2070, "id": "8668a530-b88b-4185-ac5e-cfed3095c35d"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it down until it reaches the base of the rod."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 2071, "end_step": 2165, "id": "f4628c26-18a5-4532-a3a5-77830c025993"}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the lower right area of the table."}, {"label": "goal", "start_step": 2166, "end_step": 2360, "id": "1b46db06-13ee-4359-8c83-b2c47a11d870"}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white tube rack in the center of the table."}, {"label": "subtasks", "start_step": 2205, "end_step": 2347, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white tube with purple tip on the rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block from its grip."}, {"label": "home", "start_step": 2407, "end_step": 2438, "id": "UUrzGfA8I8qVOEz-erZVT"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward towards the green cube located in front of the wooden rack on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the black table to establish a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 195, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to the position above the front left purple rod on the green base."}, {"label": "subtasks", "start_step": 405, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front left purple rod by aligning and lowering the block to fit the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple post of the assembly rack."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 922, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod after completing the assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to establish grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the green base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases the block after it is fitted properly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical cap onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it down until it reaches the base of the rod."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white tube rack in the center of the table."}, {"label": "subtasks", "start_step": 2205, "end_step": 2347, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white tube with purple tip on the rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block from its grip."}], "episode_index": 25}
+{"source_uid": "6ab154d216c1c2ac", "num_frames": 2721, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves slightly downward and forward to the left home position, with fingers slightly curled inward to adjust posture. | Right hand: idle: Right hand remains empty at the right initial position without any observable movement or posture change."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "f4a8c144-d6bd-47be-9696-6e762f4872b5"}, {"label": "valid", "start_step": 0, "end_step": 2686, "id": "Tp2EOPpX1mK7OAzNJd2HN"}, {"label": "subtasks", "start_step": 22, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: idle: Right hand remains empty at the right initial position without any observable movement or posture change."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal nut placed in front of the wooden block base, with fingers slightly open during movement."}, {"label": "subtasks", "start_step": 75, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand contacts the green hexagonal nut in front of the wooden block base, closes fingers around the nut, and makes small adjustments to wrist and finger positions to form a stable grasp."}, {"label": "goal", "start_step": 156, "end_step": 300, "id": "2715e9e4-796c-46f1-a385-7bac7d2479c5"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating it from the original purple rod."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally leftward to position it directly above the target purple rod."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the target purple rod without observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the position near the wooden peg stand toward the front white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 301, "end_step": 395, "id": "c747a392-2cb2-4c25-aadb-6b48628f658c"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal block, establishing contact with the block to form a grip."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the front white hexagonal block steadily, with no observable movement of the hand, fingers, or the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts the block upward until it is completely raised off the table."}, {"label": "goal", "start_step": 396, "end_step": 520, "id": "e09c49b7-8809-49e6-a625-06fdbd386f4e"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden assembly stand, moving the block directly above an empty purple post on the stand."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post below and lowers the block to fit it onto the post, making slight positional adjustments to achieve proper alignment."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the purple peg of the wooden peg base."}, {"label": "goal", "start_step": 521, "end_step": 605, "id": "43af3d9f-4c22-416c-83bf-f0d642e11833"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward empty from the wooden peg base toward the white hexagonal nut block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut block on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 606, "end_step": 740, "id": "2e72f73e-017e-4307-99f6-014bc31c540a"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 652, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes fine position adjustments to align the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the position above the wooden peg assembly toward the white hexagonal block on the adjacent table surface, without touching the block."}, {"label": "goal", "start_step": 741, "end_step": 825, "id": "6774d2de-13a3-4010-b219-a9c271ae0a4f"}, {"label": "subtasks", "start_step": 772, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing around the block to form a grasp."}, {"label": "goal", "start_step": 826, "end_step": 1025, "id": "4926050f-45f2-4e6e-be9a-b7331d80194f"}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface, moves the block to position it directly above the purple vertical rod on the wooden peg base."}, {"label": "subtasks", "start_step": 885, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1012, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to slide onto the corresponding purple peg on the wooden pegboard until the block rests on the base, and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 1026, "end_step": 1110, "id": "ad9f1118-728a-49c3-bbe5-b0e7d0e9fc7b"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the green hexagonal block on the black table surface, remaining empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and adjusting contact positions to establish a grip on the block."}, {"label": "goal", "start_step": 1111, "end_step": 1260, "id": "17248cf3-c878-4d14-89c9-d4d93997c282"}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward with open fingers from the area above the wooden block set toward the white hexagonal block on the black table surface, approaching the target block."}, {"label": "goal", "start_step": 1261, "end_step": 1340, "id": "f0af8606-bd27-4357-aa9f-f4d48ca08317"}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1341, "end_step": 1810, "id": "0d548bd0-70c6-4635-ad13-995bb1bcc718"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the green block on the wooden stacking base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes small lateral and rotational adjustments to align the central hole of the white hexagonal block with the vertical peg on the green block, gradually moving the block downward toward the green block surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1717, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reorient: Right hand lifts the white hexagonal block slightly upward and rotates it about a quarter turn to adjust the alignment of its central hole relative to the green block peg, with minimal lateral movement."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand adjusts the reoriented white hexagonal block to align its central hole with the green block peg, gradually moving the block downward toward the green block surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward and rightward from its initial position near the stacked block set, approaching the white hexagonal nut placed on the table to the right of the wooden block base, with fingers open and no contact made with the nut."}, {"label": "goal", "start_step": 1811, "end_step": 1965, "id": "81076f93-8494-4326-bc9d-f9dbb2ed8ec2"}, {"label": "subtasks", "start_step": 1868, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers close and make subtle adjustments to grip position, while the nut remains supported by the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand grips the white hexagonal nut, lifts it completely off the black table surface, and moves it upward and leftward to the position directly above the purple post on the wooden block stand."}, {"label": "goal", "start_step": 1966, "end_step": 2095, "id": "ac49ebac-f5b7-4943-8406-f87706f21762"}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple post on the wooden block stand, moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod of the wooden rack, separating from the nut."}, {"label": "goal", "start_step": 2096, "end_step": 2190, "id": "e7c97e34-afbc-4868-8bb7-fcd2c37e040f"}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut placed on the dark table surface, with no contact to the nut during this movement."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the white hexagonal nut on the table, forming a stable grip while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand moves upward while holding the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "goal", "start_step": 2191, "end_step": 2420, "id": "9a4fb285-0f98-4f7f-8104-47d0c1878c8a"}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple rod, fits the block onto the rod, lowers it to rest on the supporting piece below, and releases the block by opening the fingers."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: retreat: Right hand moves downward and rightward away from the wooden block assembly base, retreating from the previous block operation area."}, {"label": "goal", "start_step": 2421, "end_step": 2505, "id": "60971447-bb29-4930-8c56-09c686addc38"}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves toward the green holed block on the lower right of the table, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the green holed block, closing fingers and making small adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand lifts the green cubic block upward until the block is completely separated from the table surface."}, {"label": "goal", "start_step": 2506, "end_step": 2640, "id": "0cc5b640-e3f2-41df-8cf8-083b24fd623a"}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand carries the green cubic block and moves it leftward to the position directly above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2565, "end_step": 2631, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the front-right bottle, moves the block downward to fit it onto the bottle until the block is supported by the bottle."}, {"label": "subtasks", "start_step": 2632, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens fingers to release the green cubic block fitted on the bottle, separating from the block."}, {"label": "home", "start_step": 2687, "end_step": 2720, "id": "sy7lA_-eXZp2aXHGhlme7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves slightly downward and forward to the left home position, with fingers slightly curled inward to adjust posture. | Right hand: idle: Right hand remains empty at the right initial position without any observable movement or posture change."}, {"label": "subtasks", "start_step": 22, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: idle: Right hand remains empty at the right initial position without any observable movement or posture change."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal nut placed in front of the wooden block base, with fingers slightly open during movement."}, {"label": "subtasks", "start_step": 75, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand contacts the green hexagonal nut in front of the wooden block base, closes fingers around the nut, and makes small adjustments to wrist and finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating it from the original purple rod."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally leftward to position it directly above the target purple rod."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the target purple rod without observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the position near the wooden peg stand toward the front white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal block, establishing contact with the block to form a grip."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the front white hexagonal block steadily, with no observable movement of the hand, fingers, or the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts the block upward until it is completely raised off the table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden assembly stand, moving the block directly above an empty purple post on the stand."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post below and lowers the block to fit it onto the post, making slight positional adjustments to achieve proper alignment."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the purple peg of the wooden peg base."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward empty from the wooden peg base toward the white hexagonal nut block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut block on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 652, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes fine position adjustments to align the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the position above the wooden peg assembly toward the white hexagonal block on the adjacent table surface, without touching the block."}, {"label": "subtasks", "start_step": 772, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing around the block to form a grasp."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface, moves the block to position it directly above the purple vertical rod on the wooden peg base."}, {"label": "subtasks", "start_step": 885, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1012, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to slide onto the corresponding purple peg on the wooden pegboard until the block rests on the base, and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the green hexagonal block on the black table surface, remaining empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and adjusting contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward with open fingers from the area above the wooden block set toward the white hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the green block on the wooden stacking base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes small lateral and rotational adjustments to align the central hole of the white hexagonal block with the vertical peg on the green block, gradually moving the block downward toward the green block surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1717, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reorient: Right hand lifts the white hexagonal block slightly upward and rotates it about a quarter turn to adjust the alignment of its central hole relative to the green block peg, with minimal lateral movement."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand adjusts the reoriented white hexagonal block to align its central hole with the green block peg, gradually moving the block downward toward the green block surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward and rightward from its initial position near the stacked block set, approaching the white hexagonal nut placed on the table to the right of the wooden block base, with fingers open and no contact made with the nut."}, {"label": "subtasks", "start_step": 1868, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers close and make subtle adjustments to grip position, while the nut remains supported by the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand grips the white hexagonal nut, lifts it completely off the black table surface, and moves it upward and leftward to the position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple post on the wooden block stand, moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod of the wooden rack, separating from the nut."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut placed on the dark table surface, with no contact to the nut during this movement."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the white hexagonal nut on the table, forming a stable grip while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand moves upward while holding the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple rod, fits the block onto the rod, lowers it to rest on the supporting piece below, and releases the block by opening the fingers."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: retreat: Right hand moves downward and rightward away from the wooden block assembly base, retreating from the previous block operation area."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves toward the green holed block on the lower right of the table, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the green holed block, closing fingers and making small adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand lifts the green cubic block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand carries the green cubic block and moves it leftward to the position directly above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2565, "end_step": 2631, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the front-right bottle, moves the block downward to fit it onto the bottle until the block is supported by the bottle."}, {"label": "subtasks", "start_step": 2632, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens fingers to release the green cubic block fitted on the bottle, separating from the block."}], "episode_index": 26}
+{"source_uid": "904b5d263ff8bc42", "num_frames": 2193, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers opening slightly at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "a4c7e978-cdc7-4ef3-8116-ed6715637f6d"}, {"label": "valid", "start_step": 0, "end_step": 2164, "id": "aWOp5XIp2RfJOjgzZb9HW"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table below the left side of the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hollow hexagonal block from the black worktable surface."}, {"label": "goal", "start_step": 141, "end_step": 315, "id": "451f4528-b471-4951-8148-bf25679d03cb"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hollow hexagonal block to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hollow hexagonal block onto the leftmost peg, sliding it downward along the peg to complete assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the rightmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 316, "end_step": 395, "id": "2537024d-23f2-4034-bb6e-2480dec90964"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green base on the black table."}, {"label": "goal", "start_step": 396, "end_step": 535, "id": "dce2134c-737a-4fa5-ad4a-3222791ab9ec"}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the top of a purple test tube in the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves downward to mate the white hexagonal block onto the top of the purple test tube."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple test tube without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal component onto the purple post of the central rack and releases its grip."}, {"label": "goal", "start_step": 536, "end_step": 620, "id": "57481276-03bc-4148-b5ae-41b02c337060"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing around the object to form a stable grip."}, {"label": "goal", "start_step": 621, "end_step": 795, "id": "4b1fd4e8-c79c-4b62-9c8f-0518b44e014b"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table surface and transports it upward and leftward toward the test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the top of the front-left purple test tube and fits it onto the test tube."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal object downward along the purple test tube to secure it in place."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers and separating from the object."}, {"label": "goal", "start_step": 796, "end_step": 880, "id": "172d00c3-2663-4538-8112-f0a9a15723aa"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 881, "end_step": 1035, "id": "2e4fdb2c-5bbf-4a67-bf5f-31356a4e5147"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part off the table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 915, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand lowers the white hollow cylindrical part along the purple peg on the wooden rack to complete mating, and releases its grip once the part is fully seated."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the lower right area of the table with an empty hand."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the purple rod to approach the green hexagonal block on the table, without contact."}, {"label": "goal", "start_step": 1036, "end_step": 1085, "id": "b970d027-c5e0-47f8-a659-daff7aeb775e"}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1086, "end_step": 1275, "id": "cf08046b-4e8d-4c7a-9dcc-3939ade319ed"}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward and leftward to the position above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target white post and moves downward to fit the block onto the post."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden rack."}, {"label": "goal", "start_step": 1276, "end_step": 1350, "id": "a0507da4-3d64-4928-887f-7acb6c9d65a0"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1351, "end_step": 1505, "id": "9dd64595-2e01-4764-9346-ce0d2a6d7ef6"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, moving downward to fit the block's hole over the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden rack, with fingers opening."}, {"label": "goal", "start_step": 1506, "end_step": 1585, "id": "da3df1e9-ca07-42cd-9d2d-87da384db3bc"}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the black table, with fingers closing around the block."}, {"label": "goal", "start_step": 1586, "end_step": 1710, "id": "633d3339-9bbb-45f5-9426-c7f37314a35b"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, lowering the block to fit around the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1711, "end_step": 1790, "id": "8bd0cacb-ee9d-494a-9d88-e82944705ad4"}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1791, "end_step": 1915, "id": "cfa94c94-16a3-4faf-b58e-7c02d4ffb866"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers open and separate from the block."}, {"label": "goal", "start_step": 1916, "end_step": 1990, "id": "85ce74d1-b3ea-424c-964e-eb6ff870fcbf"}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple small component into the front-right white bottle on the wooden rack and releases the component."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table with empty hand."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers adjusting to fit the block shape."}, {"label": "goal", "start_step": 1991, "end_step": 2120, "id": "98782eb3-c7bc-46b8-8ac7-be93973557a6"}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward, making the block completely leave the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the right-front white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the right-front white bottle, aligning and fitting the hollow block onto the bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the top of the right-front white bottle without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2165, "end_step": 2192, "id": "nNpDYtLSyIgNRfYiH6OiX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers opening slightly at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table below the left side of the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hollow hexagonal block from the black worktable surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hollow hexagonal block to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hollow hexagonal block onto the leftmost peg, sliding it downward along the peg to complete assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the rightmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green base on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the top of a purple test tube in the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves downward to mate the white hexagonal block onto the top of the purple test tube."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple test tube without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal component onto the purple post of the central rack and releases its grip."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table surface and transports it upward and leftward toward the test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the top of the front-left purple test tube and fits it onto the test tube."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal object downward along the purple test tube to secure it in place."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers and separating from the object."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part off the table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 915, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand lowers the white hollow cylindrical part along the purple peg on the wooden rack to complete mating, and releases its grip once the part is fully seated."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the lower right area of the table with an empty hand."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the purple rod to approach the green hexagonal block on the table, without contact."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward and leftward to the position above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target white post and moves downward to fit the block onto the post."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, moving downward to fit the block's hole over the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, lowering the block to fit around the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple small component into the front-right white bottle on the wooden rack and releases the component."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table with empty hand."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers adjusting to fit the block shape."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward, making the block completely leave the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the right-front white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the right-front white bottle, aligning and fitting the hollow block onto the bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the top of the right-front white bottle without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}], "episode_index": 27}
+{"source_uid": "5e937cf152771e38", "num_frames": 2369, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves toward the green cube located at the left front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "ea7759fe-8fba-4824-82d4-f090eeff063d"}, {"label": "valid", "start_step": 0, "end_step": 2339, "id": "TXdxpXTHzLT58r74op0n2"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube located at the left front of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 141, "end_step": 325, "id": "582f869f-26be-4e65-afb1-dee16e87a697"}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple pillar and inserts it downwards to finish the assembly."}, {"label": "goal", "start_step": 326, "end_step": 420, "id": "6a312090-6136-4774-960f-c20c8f57a3e2"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 421, "end_step": 580, "id": "86872ef1-43c7-4ac9-ba21-7ed350bfe5e5"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by aligning the block's hole with the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down along the leftmost purple rod until it rests on the green base at the bottom of the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the green base."}, {"label": "goal", "start_step": 581, "end_step": 680, "id": "9d26194b-e170-427a-b37e-08ed8413b6d8"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 681, "end_step": 865, "id": "8573715d-0454-494a-aaac-cc4954a71800"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 712, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod of the test tube rack."}, {"label": "goal", "start_step": 866, "end_step": 955, "id": "5e88473a-609e-4f1c-bbec-0ceb55284b59"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 956, "end_step": 1120, "id": "463de0cb-88a0-4457-9c98-29149a86c3d8"}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and pushes it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the peg."}, {"label": "goal", "start_step": 1121, "end_step": 1185, "id": "a853379b-5ee3-402d-9087-057174447054"}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 1186, "end_step": 1345, "id": "8d5c88cc-2ec4-4fb3-a8a2-eabe5e6c80fe"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the desktop and transports it towards the white post on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target white post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the white post until it is fully seated on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white peg on the wooden base."}, {"label": "goal", "start_step": 1346, "end_step": 1430, "id": "1aedfa27-6bb8-4813-99d8-b3762d78f310"}, {"label": "subtasks", "start_step": 1372, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1431, "end_step": 1565, "id": "055c5001-3e77-4789-acb4-707cb8decb18"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until the block is supported by the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "goal", "start_step": 1566, "end_step": 1635, "id": "a19bfb77-ada0-4d06-bad4-07bf0db217a1"}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1636, "end_step": 1765, "id": "d8100242-4fff-4fc6-89cb-79f45916a81e"}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole and pressing it down."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats from the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table, not making contact with the block yet."}, {"label": "goal", "start_step": 1766, "end_step": 1875, "id": "9a59b993-8c5f-4a70-933a-8e878aa5360f"}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers again to re-grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table surface and transports it to the upper position of the purple peg on the wooden rack."}, {"label": "goal", "start_step": 1876, "end_step": 2020, "id": "0403266c-cf3f-4f2c-828d-130b89546f03"}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the empty position of the wooden base."}, {"label": "goal", "start_step": 2021, "end_step": 2120, "id": "ae233764-cc38-4e89-8c89-c54398b0e055"}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 2121, "end_step": 2305, "id": "27062783-4ca4-4849-9a22-b85f2ffa39f0"}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the white pillar by inserting the pillar into the hole of the green block."}, {"label": "home", "start_step": 2340, "end_step": 2368, "id": "70s5wndlrC9rMV15P4Pli"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves toward the green cube located at the left front of the wooden rack."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube located at the left front of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple pillar and inserts it downwards to finish the assembly."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by aligning the block's hole with the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down along the leftmost purple rod until it rests on the green base at the bottom of the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 712, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and pushes it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the desktop and transports it towards the white post on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target white post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the white post until it is fully seated on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until the block is supported by the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole and pressing it down."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats from the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table, not making contact with the block yet."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers again to re-grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table surface and transports it to the upper position of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the empty position of the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the white pillar by inserting the pillar into the hole of the green block."}], "episode_index": 28}
+{"source_uid": "0fdc63af81626a59", "num_frames": 2152, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves from its initial right-side resting position toward the front-left green hexagonal nut on the table, with fingers extended as it approaches the target."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "08f36eb7-41fc-43b1-8efc-31563c7b975c"}, {"label": "valid", "start_step": 0, "end_step": 2122, "id": "gA-MbYJcO8M33PAYgWJEC"}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the front-left green hexagonal nut near the wooden peg board, adjusting finger positions and wrist angle to establish a grip on the nut."}, {"label": "goal", "start_step": 141, "end_step": 265, "id": "8c75ff39-6bfd-4444-9d3c-f82aae31a784"}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above a purple post on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the purple post, and fits the block onto the post to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard, fingers opening to release the nut once it rests on the supporting structure."}, {"label": "goal", "start_step": 266, "end_step": 340, "id": "87e6c9c9-0c42-4e45-9144-f67096db8d1e"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach_grasp: Right hand moves downward to approach the white hexagonal nut on the black tabletop, fingers closing around the nut to establish a firm grip."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface with no visible movement of the hand, fingers or the gripped object."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand adjusts finger positions to close around and securely grasp the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 341, "end_step": 470, "id": "9432f1ed-038b-4867-be83-93068b274b36"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the area above the target purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 375, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align it with the target purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves downwards from the area near the wooden pegboard toward the white hexagonal nut on the black table surface, staying empty before making contact with the nut."}, {"label": "goal", "start_step": 471, "end_step": 555, "id": "95b0532f-6e3c-4914-a042-ddc8514c1f61"}, {"label": "subtasks", "start_step": 510, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and make small adjustments to form a grasp on the nut, which remains resting on the table surface."}, {"label": "goal", "start_step": 556, "end_step": 715, "id": "ada1aade-0e93-4625-94f7-a361bee9c78d"}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table and moves it upward to position directly above the unoccupied purple rod on the wooden component rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, makes small positional adjustments, and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple post of the wooden base, and opens fingers to release the settled block."}, {"label": "goal", "start_step": 716, "end_step": 795, "id": "6cb0b118-450c-47a2-84c9-e2b6f9f10f23"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting contact positions to establish a grip."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and forward to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 796, "end_step": 910, "id": "03b0092d-f4f4-4aa2-a47a-12a8da5a1197"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 848, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the purple peg of the wooden assembly base, with fingers opening to release the block."}, {"label": "goal", "start_step": 911, "end_step": 980, "id": "dc1d4e31-7f40-4a77-b7d8-9aaa8979e373"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward and leftward across the black table surface toward the green hexagonal block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grip."}, {"label": "goal", "start_step": 981, "end_step": 1115, "id": "9c916e85-4b68-4963-a3cd-e8d6eca933f0"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand places the green hexagonal block onto the post of the wooden assembly base and releases the block with fingers opening."}, {"label": "goal", "start_step": 1116, "end_step": 1190, "id": "1079fbfd-0eb1-45db-ac76-c01f2a719d45"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes and adjusts fingers to form a grip on the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1191, "end_step": 1325, "id": "3dab0144-d1b6-4e4c-829e-2614f10a8736"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly base and adjusts its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand positions the white cylindrical object upright into the hole on the wooden base, fingers opening to release contact with the stabilized object."}, {"label": "goal", "start_step": 1326, "end_step": 1400, "id": "f43d9888-142f-49b0-a016-6f547be38df3"}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish contact and form a grasp."}, {"label": "goal", "start_step": 1401, "end_step": 1585, "id": "fab3725b-54c4-42fb-a0d3-0417bbeb5eac"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the white hexagonal hole on the wooden base, until the cylinder is stably supported by the base."}, {"label": "goal", "start_step": 1586, "end_step": 1675, "id": "65c1a086-0f34-4558-9d66-deb6b0102849"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the inserted light purple cylinder, separating the hand from the cylinder surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty in a down-right direction toward the white hexagonal nut placed on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1676, "end_step": 1810, "id": "5cd08798-55d8-413e-85c0-76be420e6562"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden holder and lowers the block to insert it into the slot, making slight positional adjustments to fit the block properly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the white cylindrical block with purple rod resting on the wooden block rack."}, {"label": "goal", "start_step": 1811, "end_step": 1885, "id": "c957f8e7-086f-46d1-a76d-550eeafbc6a8"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty in a downward-right direction toward the small green hollow square block on the dark table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the small green hollow square block and adjusts finger positions while closing to establish a grip on the block."}, {"label": "goal", "start_step": 1886, "end_step": 2080, "id": "4568be42-b32a-436a-a495-01f1d7f4f9fe"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and transports it upward toward the top of the wooden block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the hollow green block with the purple-topped white post on the rack, making slight positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the green block seated securely on the post."}, {"label": "home", "start_step": 2123, "end_step": 2151, "id": "VEMwz85zwMRi1f-bzYZOy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves from its initial right-side resting position toward the front-left green hexagonal nut on the table, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the front-left green hexagonal nut near the wooden peg board, adjusting finger positions and wrist angle to establish a grip on the nut."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above a purple post on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the purple post, and fits the block onto the post to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard, fingers opening to release the nut once it rests on the supporting structure."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach_grasp: Right hand moves downward to approach the white hexagonal nut on the black tabletop, fingers closing around the nut to establish a firm grip."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface with no visible movement of the hand, fingers or the gripped object."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand adjusts finger positions to close around and securely grasp the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the area above the target purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 375, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align it with the target purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves downwards from the area near the wooden pegboard toward the white hexagonal nut on the black table surface, staying empty before making contact with the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and make small adjustments to form a grasp on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table and moves it upward to position directly above the unoccupied purple rod on the wooden component rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, makes small positional adjustments, and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple post of the wooden base, and opens fingers to release the settled block."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting contact positions to establish a grip."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and forward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 848, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the purple peg of the wooden assembly base, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward and leftward across the black table surface toward the green hexagonal block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand places the green hexagonal block onto the post of the wooden assembly base and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes and adjusts fingers to form a grip on the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly base and adjusts its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand positions the white cylindrical object upright into the hole on the wooden base, fingers opening to release contact with the stabilized object."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish contact and form a grasp."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the white hexagonal hole on the wooden base, until the cylinder is stably supported by the base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the inserted light purple cylinder, separating the hand from the cylinder surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty in a down-right direction toward the white hexagonal nut placed on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden holder and lowers the block to insert it into the slot, making slight positional adjustments to fit the block properly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the white cylindrical block with purple rod resting on the wooden block rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty in a downward-right direction toward the small green hollow square block on the dark table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the small green hollow square block and adjusts finger positions while closing to establish a grip on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and transports it upward toward the top of the wooden block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the hollow green block with the purple-topped white post on the rack, making slight positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the green block seated securely on the post."}], "episode_index": 29}
+{"source_uid": "81e0e733e7735a9c", "num_frames": 2247, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "37de4454-1834-4e40-8f9b-cfa06b449493"}, {"label": "valid", "start_step": 0, "end_step": 2218, "id": "FKFEs-vnAZJpUc_HlFCZp"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the target purple peg on the wooden base."}, {"label": "goal", "start_step": 136, "end_step": 265, "id": "14cd5498-6ed5-49d0-a1a5-ec8e524a48a2"}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fix it in position."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 266, "end_step": 350, "id": "9568faa1-172b-4289-b24d-0a44f225c317"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface with finger adjustments."}, {"label": "goal", "start_step": 351, "end_step": 480, "id": "754cdcdc-1cfa-4de4-9a30-8628db2a2758"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 481, "end_step": 560, "id": "cf78d0ab-c3a3-43d7-b761-f4d871265107"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 561, "end_step": 715, "id": "6701dd96-20e7-4e16-be9a-7cacaccb5eba"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 716, "end_step": 810, "id": "2a14f183-c816-46c7-9845-b9a4f20deb3c"}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 811, "end_step": 975, "id": "18e377cd-9637-45bd-9d63-28c8c0d73f11"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white hexagonal block down to the bottom of the purple rod."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 976, "end_step": 1080, "id": "227d6129-76fd-4057-83b6-4d3862609039"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward from the pegged wooden board towards the green hollow block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand touches the green hollow block on the table, fingers adjusting to form a stable grasp."}, {"label": "goal", "start_step": 1081, "end_step": 1275, "id": "e811799e-a818-42fb-b050-84d5caf4c0c1"}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the green block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1162, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the green block down onto the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the green block on the purple rod and moves slightly upward."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white ring onto the peg of the wooden base."}, {"label": "goal", "start_step": 1276, "end_step": 1365, "id": "f65b326b-b746-469d-ae4b-d1f190ab5eba"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring placed on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1366, "end_step": 1505, "id": "4359df69-3668-4907-b60d-132d75dd1f57"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the green block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, fingers open gradually."}, {"label": "goal", "start_step": 1506, "end_step": 1585, "id": "d21e5a37-1531-4d51-af12-0937e526d3d9"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close gradually to establish grip."}, {"label": "goal", "start_step": 1586, "end_step": 1735, "id": "6fca476a-95ca-4ced-836d-adc3e8887618"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's central hole."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white cylindrical component down onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1736, "end_step": 1820, "id": "14eefa80-91c8-4a6b-819c-f627dca500e9"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1821, "end_step": 1915, "id": "f90327ab-d1a5-4bd2-87a8-a41d8c768972"}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 1916, "end_step": 1995, "id": "2dd9b9b5-b360-49c8-bd18-502f8d050cd0"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp_release: Right hand grasps and adjusts the white bottle with purple top on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the green cube on the black table."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand reaches towards the green cube placed on the black table."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the green cube on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1996, "end_step": 2180, "id": "e2ca5871-edb2-4343-b9b3-7bf06dcd0fa0"}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the green block from its grasp."}, {"label": "home", "start_step": 2219, "end_step": 2246, "id": "p7W7nJxm8Wm-5Jgr9IFuy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fix it in position."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface with finger adjustments."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white hexagonal block down to the bottom of the purple rod."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward from the pegged wooden board towards the green hollow block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand touches the green hollow block on the table, fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the green block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1162, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the green block down onto the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the green block on the purple rod and moves slightly upward."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white ring onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring placed on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the green block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, fingers open gradually."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close gradually to establish grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's central hole."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white cylindrical component down onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp_release: Right hand grasps and adjusts the white bottle with purple top on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the green cube on the black table."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand reaches towards the green cube placed on the black table."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the green cube on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the green block from its grasp."}], "episode_index": 30}
+{"source_uid": "0cda3d9fe2ed4bf1", "num_frames": 2747, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from the initial upper-left position toward the central workspace, with fingers slightly adjusting during the movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers extended as it approaches the target."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "a260161a-2fac-4997-a923-12ad84dee5ce"}, {"label": "valid", "start_step": 0, "end_step": 2717, "id": "KPdYtys47eWHc3rF_GR4E"}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block in front of the wooden peg board, adjusting wrist and finger positions to form a secure grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the green hexagonal block steadily in front of the wooden peg board, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface to establish a stable grasp."}, {"label": "goal", "start_step": 171, "end_step": 300, "id": "bbb8146e-6dd5-4700-a1d4-a137e53813a3"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg, completing the assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard to approach the white hexagonal nut on the black table surface, with fingers slightly open."}, {"label": "goal", "start_step": 301, "end_step": 405, "id": "52885a8a-9df7-469f-8c10-0ccd4fd7a3ca"}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand adjusts finger positions incrementally and closes fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand grips the white hexagonal nut on the green support block and lifts it upward until the nut is fully separated from the block."}, {"label": "goal", "start_step": 406, "end_step": 535, "id": "ac463aa4-3225-411a-bf43-3a6d6fbdf7e8"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 442, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: press: Right hand presses the top of the white and green cylindrical block on the purple peg to fully seat it on the wooden pegboard."}, {"label": "goal", "start_step": 536, "end_step": 625, "id": "437c5908-3722-4137-809a-8e02bffd269f"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 626, "end_step": 845, "id": "227a1305-5b18-469f-a96a-d27814eddfe1"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg as part of the assembly process."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand releases the white capped block seated on the purple peg, opening fingers and moving downward away from the block to end contact."}, {"label": "goal", "start_step": 846, "end_step": 940, "id": "fe322c9c-a28b-42c4-bd4a-d55cf3dd2aa8"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block positioned directly in front of the wooden peg base, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, adjusting finger placement and closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 941, "end_step": 1045, "id": "7dc61b3e-d04e-4726-9224-1902032d8ef1"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: place_release: Right hand positions the white hexagonal block onto the short peg of the wooden board until the block is stably supported, with fingers opening to release contact with the block."}, {"label": "goal", "start_step": 1046, "end_step": 1120, "id": "3921704b-6798-445b-9779-1eaca44e3aa8"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward with open fingers to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closes fingers and adjusts grip to establish stable contact with the block."}, {"label": "goal", "start_step": 1121, "end_step": 1230, "id": "47b137fd-2659-47bd-8331-6e74e8e29b46"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, moves the block downward to nest onto the rod, and opens its fingers to release the block onto the rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple vertical rod on the wooden assembly base, opens fingers to release the block as it becomes stably supported by the rod."}, {"label": "goal", "start_step": 1231, "end_step": 1305, "id": "a0422ab5-80a0-442a-9792-2add932c1976"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves empty downward and leftward from the assembly base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block, and makes small adjustments to finger contact positions to establish a firm grip."}, {"label": "goal", "start_step": 1306, "end_step": 1680, "id": "50764f62-4979-41fd-982b-675af8c953ba"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the area above the wooden block assembly base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1657, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand adjusts the white hexagonal nut to align with the vertical rod on the wooden block base, fits the nut onto the rod, and opens fingers to release the nut in place."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: retreat: Right hand moves empty away from the wooden block assembly toward the right side of the workspace."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves down and left toward the nearest white hexagonal block next to the wooden block stand with an open hand, no contact with the block yet."}, {"label": "goal", "start_step": 1681, "end_step": 1790, "id": "62cce01b-c3ea-4627-8d5b-d9ede6b5ceb9"}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the nearest white hexagonal block next to the wooden block stand, making small adjustments to establish grip on the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, lifting it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1791, "end_step": 1960, "id": "37aca05f-7449-4efc-b60f-17c56e46bfd9"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden assembly base, positioning the nut directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowering the nut to fit it onto the rod until it rests on the stacked block below."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating from the nut on the purple rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward from the area adjacent to the block rack toward the first white hexagonal nut on the black table surface, with fingers slightly open."}, {"label": "goal", "start_step": 1961, "end_step": 2160, "id": "70031e61-599e-46ed-a31e-2665ff9b3b24"}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the first white hexagonal nut on the table, adjusts finger contact positions and slightly rotates the nut on the table surface to form a grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand opens fingers to release the first white hexagonal nut, fully separating from the nut which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves toward the second white hexagonal nut positioned next to the small green block on the table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the second white hexagonal nut adjacent to the green block, adjusting finger positions to begin forming a grip on the nut."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 2161, "end_step": 2320, "id": "6cb6fae2-ef76-4f30-b48c-a854f4766c98"}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the white hexagonal block, moving it leftward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2212, "end_step": 2309, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly, aligns its central hole with the purple rod, and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand releases the light purple-topped white cylindrical piece seated on the rightmost peg of the wooden base, fingers opening to separate completely from the piece."}, {"label": "goal", "start_step": 2321, "end_step": 2510, "id": "fa243f3e-f849-4ac9-80d2-ac164eed8120"}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves empty downward from the wooden peg base area toward the small green square block on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand fingers close around the small green square block on the table, making small wrist and finger adjustments to form a grip, shifting the block slightly on the table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand maintains a light static grip on the small green square block on the table surface, with no wrist, finger or block movement."}, {"label": "subtasks", "start_step": 2498, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand makes small finger and wrist adjustments to its grip on the small green square block, repositioning contact points on the block surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the green ring with closed fingers and lifts it vertically upward until the ring fully leaves the dark table surface."}, {"label": "goal", "start_step": 2511, "end_step": 2675, "id": "26edc44c-63e7-4998-996d-8e81e66c7cdc"}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the grasped green ring, moving it upward and leftward through the air to the position directly above the target white peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2565, "end_step": 2684, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand aligns the green ring with the target white peg, lowers the ring to nest it onto the peg, opens fingers to release the ring resting stably on the peg."}, {"label": "home", "start_step": 2718, "end_step": 2746, "id": "zkaW6EIa5bp9k8rACjEa5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from the initial upper-left position toward the central workspace, with fingers slightly adjusting during the movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block in front of the wooden peg board, adjusting wrist and finger positions to form a secure grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the green hexagonal block steadily in front of the wooden peg board, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg, completing the assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard to approach the white hexagonal nut on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand adjusts finger positions incrementally and closes fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand grips the white hexagonal nut on the green support block and lifts it upward until the nut is fully separated from the block."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 442, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: press: Right hand presses the top of the white and green cylindrical block on the purple peg to fully seat it on the wooden pegboard."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg as part of the assembly process."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand releases the white capped block seated on the purple peg, opening fingers and moving downward away from the block to end contact."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block positioned directly in front of the wooden peg base, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, adjusting finger placement and closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: place_release: Right hand positions the white hexagonal block onto the short peg of the wooden board until the block is stably supported, with fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward with open fingers to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closes fingers and adjusts grip to establish stable contact with the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, moves the block downward to nest onto the rod, and opens its fingers to release the block onto the rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple vertical rod on the wooden assembly base, opens fingers to release the block as it becomes stably supported by the rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves empty downward and leftward from the assembly base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block, and makes small adjustments to finger contact positions to establish a firm grip."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the area above the wooden block assembly base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1657, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand adjusts the white hexagonal nut to align with the vertical rod on the wooden block base, fits the nut onto the rod, and opens fingers to release the nut in place."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: retreat: Right hand moves empty away from the wooden block assembly toward the right side of the workspace."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves down and left toward the nearest white hexagonal block next to the wooden block stand with an open hand, no contact with the block yet."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the nearest white hexagonal block next to the wooden block stand, making small adjustments to establish grip on the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, lifting it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden assembly base, positioning the nut directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowering the nut to fit it onto the rod until it rests on the stacked block below."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating from the nut on the purple rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward from the area adjacent to the block rack toward the first white hexagonal nut on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the first white hexagonal nut on the table, adjusts finger contact positions and slightly rotates the nut on the table surface to form a grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand opens fingers to release the first white hexagonal nut, fully separating from the nut which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves toward the second white hexagonal nut positioned next to the small green block on the table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the second white hexagonal nut adjacent to the green block, adjusting finger positions to begin forming a grip on the nut."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the white hexagonal block, moving it leftward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2212, "end_step": 2309, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly, aligns its central hole with the purple rod, and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand releases the light purple-topped white cylindrical piece seated on the rightmost peg of the wooden base, fingers opening to separate completely from the piece."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves empty downward from the wooden peg base area toward the small green square block on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand fingers close around the small green square block on the table, making small wrist and finger adjustments to form a grip, shifting the block slightly on the table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand maintains a light static grip on the small green square block on the table surface, with no wrist, finger or block movement."}, {"label": "subtasks", "start_step": 2498, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand makes small finger and wrist adjustments to its grip on the small green square block, repositioning contact points on the block surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the green ring with closed fingers and lifts it vertically upward until the ring fully leaves the dark table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the grasped green ring, moving it upward and leftward through the air to the position directly above the target white peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2565, "end_step": 2684, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand aligns the green ring with the target white peg, lowers the ring to nest it onto the peg, opens fingers to release the ring resting stably on the peg."}], "episode_index": 31}
+{"source_uid": "5fb1ab1a03fa9a94", "num_frames": 2324, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves from its initial resting position on the right side toward the green hexagonal block placed on the table in front of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "3cbb5110-13f3-4120-a22c-eed8863b201d"}, {"label": "valid", "start_step": 0, "end_step": 2295, "id": "tdMx61lpMQ_pgsCe4v8ST"}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block which stays on the table surface."}, {"label": "goal", "start_step": 131, "end_step": 280, "id": "f17ff934-40b1-4b71-8dec-fabf3d05ecda"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally toward the wooden assembly base, stopping directly above a purple peg on the base."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the grasped green hexagonal block with the purple peg on the wooden assembly base, fitting the block onto the upper section of the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests on the white hexagonal component on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand lowers the green hexagonal block onto the purple peg of the wooden rack until the block is fully supported by the rack base."}, {"label": "goal", "start_step": 281, "end_step": 360, "id": "f068a733-8969-4f4f-b277-499a0f20d64a"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward through empty space toward the front white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut near the black table surface without moving."}, {"label": "goal", "start_step": 361, "end_step": 480, "id": "11ca4bde-e210-4058-91b6-1ccf963d837d"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post and fits the nut onto the top end of the post."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand slides the white hexagonal nut downward along the purple post until the nut rests stably on the green base block."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place_release: Right hand sets the white cap onto the purple peg on the wooden assembly board, opens fingers to release the cap once the cap is stably supported by the peg."}, {"label": "goal", "start_step": 481, "end_step": 575, "id": "86d0e34f-18f4-4c61-bd0b-edc056d172bf"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to establish a stable grip."}, {"label": "goal", "start_step": 576, "end_step": 695, "id": "c50e6385-e131-4a07-a1da-5a1b9a1d47f2"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward toward the purple vertical rod on the wooden peg stand."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward from the area above the wooden peg assembly toward the white hexagonal block on the black table in front of the assembly, with fingers held open."}, {"label": "goal", "start_step": 696, "end_step": 780, "id": "613dd53e-cf73-4907-bb68-1f4c343cad01"}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to establish a grip on the block which stays on the table surface."}, {"label": "goal", "start_step": 781, "end_step": 945, "id": "9c1c9a14-7a38-4b8c-bfd9-8b65c389c7bd"}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the right to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut downward along the rod to seat it on the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without any observable movement of the hand or nut."}, {"label": "goal", "start_step": 946, "end_step": 1030, "id": "12a9a02e-c330-40ab-bd21-9b11f8ffde70"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed in front of the wooden assembly base, with fingers slightly open while approaching the target."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "goal", "start_step": 1031, "end_step": 1185, "id": "dd3e2085-ef48-4af6-9613-a2759916940e"}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, moves it upward and toward the wooden block assembly to position it above the purple cylindrical post."}, {"label": "subtasks", "start_step": 1088, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the grasped green hexagonal block with the purple cylindrical post on the wooden base, making slight positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that is fitted onto the purple cylindrical post."}, {"label": "goal", "start_step": 1186, "end_step": 1275, "id": "e53e8a28-9acc-4339-b40f-e801484278c8"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target with an open hand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table, forming a grip on the object."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand holds a white hexagonal nut resting on the black table surface, lifts the nut upward until the nut is fully lifted off the table and suspended in air."}, {"label": "goal", "start_step": 1276, "end_step": 1425, "id": "24b1f198-a2d4-4dab-9210-d0c52c0823aa"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the suspended white hexagonal nut, moving it toward the wooden assembly block until the nut is positioned directly above the purple vertical post on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical post below, moves the nut downward to fit it onto the post, and makes small wrist and finger adjustments to properly seat the nut on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place_release: Right hand lowers the white-topped green block onto the purple rod of the wooden assembly rack and opens fingers to separate from the block resting on the rack."}, {"label": "goal", "start_step": 1426, "end_step": 1520, "id": "38f682d2-412f-4162-9dff-5eae62332846"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal nut on the black table surface adjacent to the wooden assembly rack, fingers maintained in a slightly open posture."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to establish a secure hold."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 1521, "end_step": 1660, "id": "3505078c-9bb0-49ed-a257-322f049043b6"}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand slightly adjusts the white hexagonal nut's position to align its central hole with the purple rod, moving the nut downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand releases the purple cylindrical piece on the wooden block rack, with fingers opening to separate from the cylindrical piece."}, {"label": "goal", "start_step": 1661, "end_step": 1740, "id": "9d977f42-4dd8-4234-bbe9-3f6163f742ba"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table, keeping an open hand as it approaches the target nut."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 1741, "end_step": 1875, "id": "654ef48a-fc35-4a98-995d-0fd5e9a3506a"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden block assembly holding other hexagonal pieces."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly, moving it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating from the nut placed on the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface with an empty hand."}, {"label": "goal", "start_step": 1876, "end_step": 1970, "id": "54ebd581-6fc1-4efc-a97a-629371c0de5a"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the green hexagonal ring upward from the dark table surface, with fingers closed securely around the ring."}, {"label": "goal", "start_step": 1971, "end_step": 2245, "id": "8a8f80b5-de91-4589-b241-5b42a9fefdf9"}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the green hexagonal ring upward and leftward through the air to position it directly above the target white cylinder on the wooden block base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand lowers the green hexagonal ring over the target white cylinder, aligning the ring's central opening with the cylinder top to fit the ring onto the cylinder."}, {"label": "subtasks", "start_step": 2040, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the fitted green hexagonal ring steady on top of the target white cylinder without any visible movement."}, {"label": "home", "start_step": 2296, "end_step": 2323, "id": "TK9nq12Mzoc8b4JHvIbHt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves from its initial resting position on the right side toward the green hexagonal block placed on the table in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block which stays on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally toward the wooden assembly base, stopping directly above a purple peg on the base."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the grasped green hexagonal block with the purple peg on the wooden assembly base, fitting the block onto the upper section of the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests on the white hexagonal component on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand lowers the green hexagonal block onto the purple peg of the wooden rack until the block is fully supported by the rack base."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward through empty space toward the front white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut near the black table surface without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post and fits the nut onto the top end of the post."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand slides the white hexagonal nut downward along the purple post until the nut rests stably on the green base block."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place_release: Right hand sets the white cap onto the purple peg on the wooden assembly board, opens fingers to release the cap once the cap is stably supported by the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to establish a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward toward the purple vertical rod on the wooden peg stand."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward from the area above the wooden peg assembly toward the white hexagonal block on the black table in front of the assembly, with fingers held open."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to establish a grip on the block which stays on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the right to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut downward along the rod to seat it on the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without any observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed in front of the wooden assembly base, with fingers slightly open while approaching the target."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, moves it upward and toward the wooden block assembly to position it above the purple cylindrical post."}, {"label": "subtasks", "start_step": 1088, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the grasped green hexagonal block with the purple cylindrical post on the wooden base, making slight positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that is fitted onto the purple cylindrical post."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target with an open hand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table, forming a grip on the object."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand holds a white hexagonal nut resting on the black table surface, lifts the nut upward until the nut is fully lifted off the table and suspended in air."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the suspended white hexagonal nut, moving it toward the wooden assembly block until the nut is positioned directly above the purple vertical post on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical post below, moves the nut downward to fit it onto the post, and makes small wrist and finger adjustments to properly seat the nut on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place_release: Right hand lowers the white-topped green block onto the purple rod of the wooden assembly rack and opens fingers to separate from the block resting on the rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal nut on the black table surface adjacent to the wooden assembly rack, fingers maintained in a slightly open posture."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to establish a secure hold."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand slightly adjusts the white hexagonal nut's position to align its central hole with the purple rod, moving the nut downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand releases the purple cylindrical piece on the wooden block rack, with fingers opening to separate from the cylindrical piece."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table, keeping an open hand as it approaches the target nut."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden block assembly holding other hexagonal pieces."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly, moving it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating from the nut placed on the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface with an empty hand."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the green hexagonal ring upward from the dark table surface, with fingers closed securely around the ring."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the green hexagonal ring upward and leftward through the air to position it directly above the target white cylinder on the wooden block base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand lowers the green hexagonal ring over the target white cylinder, aligning the ring's central opening with the cylinder top to fit the ring onto the cylinder."}, {"label": "subtasks", "start_step": 2040, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the fitted green hexagonal ring steady on top of the target white cylinder without any visible movement."}], "episode_index": 32}
+{"source_uid": "ba987210501fca9f", "num_frames": 2493, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty from its initial right-side position downward and leftward, approaching the green hexagonal block located to the left of the wooden cylindrical stand."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "5934d30c-43eb-4b8b-b6c3-e72b613044af"}, {"label": "valid", "start_step": 0, "end_step": 2459, "id": "jpuBsKtX2pT4pYlH2TaEE"}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making minor finger and wrist adjustments to establish a grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 171, "end_step": 330, "id": "ce1b96f1-2249-4e54-909c-fa76c0a915f3"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black work surface and transports it to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 218, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, moves the block downward to fit it onto the rod until it rests on the existing blocks below."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the wooden pegboard area to approach the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 331, "end_step": 405, "id": "bbf30b09-16da-44d3-95e9-1a325f2ea6f4"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the contacted white hexagonal nut, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal nut resting on the green support block on the table to establish a stable hold."}, {"label": "goal", "start_step": 406, "end_step": 600, "id": "bca16b77-4c96-4ee5-ba74-8d707334b9c7"}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green support block and moves it upward then horizontally toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden base, making slight positional and rotational adjustments to fit the nut over the peg."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand lowers the white hexagonal nut down along the aligned purple peg until it rests stably on the green support block below the peg."}, {"label": "goal", "start_step": 601, "end_step": 690, "id": "42d90a81-237e-4467-8d5a-b6c86cece01e"}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 691, "end_step": 905, "id": "5662f8d5-7768-4587-addf-1ce016a5cf24"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden pegboard."}, {"label": "subtasks", "start_step": 750, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple rod and lowers the nut to fit it onto the rod, establishing the mated assembly state."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple rod without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the area near the block assembly structure toward the white hexagonal nut resting on the table adjacent to the wooden assembly base."}, {"label": "goal", "start_step": 906, "end_step": 1010, "id": "7af9eeb4-3bc5-4605-ba82-6947fb23aa9b"}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, with fingers closing and making small adjustments to form a grip on the nut, which remains supported by the table surface."}, {"label": "goal", "start_step": 1011, "end_step": 1150, "id": "5c41bb72-7a47-4561-946d-95c4447f477c"}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate_release: Right hand holds the purple cylindrical peg, aligns and inserts it into the corresponding purple hole on the wooden pegboard, and releases the peg."}, {"label": "goal", "start_step": 1151, "end_step": 1255, "id": "db185e37-5aec-48bf-8d07-008c5f46df0d"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward from the wooden pegboard toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish contact with the block."}, {"label": "goal", "start_step": 1256, "end_step": 1395, "id": "bd6aa774-d25c-4046-ac4c-ca572da5b0a8"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1312, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit it onto the rod until it rests on the white block below."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement or hand shape adjustment."}, {"label": "goal", "start_step": 1396, "end_step": 1500, "id": "64aa36f7-845a-4e07-8f57-020920dac0ff"}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward while empty, approaching the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1501, "end_step": 1665, "id": "6e0884ae-ee7f-4e1d-a8db-3e5e66d7829b"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving it upward and toward the wooden block set until it sits directly above the purple mounting rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the held white hexagonal nut to align it with the purple rod on the wooden base, moving the nut downward to fit it onto the rod and seat it on the nut positioned below."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: release: Right hand opens fingers gradually to release the white hexagonal nut seated on the purple rod, separating the hand from the nut surface."}, {"label": "goal", "start_step": 1666, "end_step": 1810, "id": "577e4566-59e7-414e-829b-fa43223835b8"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward and to the right toward the loose white hexagonal block placed on the black table surface next to the wooden rack, staying empty without touching the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand contacts the loose white hexagonal block on the table, fingers closing and making small adjustments to form a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 1811, "end_step": 1935, "id": "aad73cad-8862-4508-8760-2d41a6c20651"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1852, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod until the block rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1936, "end_step": 2020, "id": "6563bb0f-c87f-460e-820d-ce91efb2d08a"}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts it upward until the block fully leaves the table surface."}, {"label": "goal", "start_step": 2021, "end_step": 2140, "id": "7af568da-3659-4184-a42c-8e79f9ebcc7b"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and leftward toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple post on the rack, fitting the block onto the post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place_release: Right hand positions the white cylindrical block with a purple rod into the matching hole on the wooden holder, opening fingers to release the block into place."}, {"label": "goal", "start_step": 2141, "end_step": 2250, "id": "592728e8-227f-4df9-bd78-4cc7bdbc9862"}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward toward the green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing fingers and adjusting contact points to secure a grip on the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand holds the green square block and lifts it vertically upward from the dark table surface until the block is completely raised off the table."}, {"label": "goal", "start_step": 2251, "end_step": 2405, "id": "72e9f704-e8e9-4295-9fc2-d3280a5ea2fe"}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted green square block upward and leftward, moving it to the position above the white capped cylinders on the light wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand makes small fine positional adjustments to the green square block, aligning it with the top of the rightmost purple-tipped white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2414, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand lowers the aligned green square block vertically downward onto the top of the target purple-tipped white cylinder until the block is stably supported by the cylinder."}, {"label": "home", "start_step": 2460, "end_step": 2492, "id": "MkjAmeZklT-SvKzl4ttwK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty from its initial right-side position downward and leftward, approaching the green hexagonal block located to the left of the wooden cylindrical stand."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making minor finger and wrist adjustments to establish a grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black work surface and transports it to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 218, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, moves the block downward to fit it onto the rod until it rests on the existing blocks below."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the wooden pegboard area to approach the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the contacted white hexagonal nut, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal nut resting on the green support block on the table to establish a stable hold."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green support block and moves it upward then horizontally toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden base, making slight positional and rotational adjustments to fit the nut over the peg."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand lowers the white hexagonal nut down along the aligned purple peg until it rests stably on the green support block below the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden pegboard."}, {"label": "subtasks", "start_step": 750, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple rod and lowers the nut to fit it onto the rod, establishing the mated assembly state."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple rod without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the area near the block assembly structure toward the white hexagonal nut resting on the table adjacent to the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, with fingers closing and making small adjustments to form a grip on the nut, which remains supported by the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate_release: Right hand holds the purple cylindrical peg, aligns and inserts it into the corresponding purple hole on the wooden pegboard, and releases the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward from the wooden pegboard toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish contact with the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1312, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit it onto the rod until it rests on the white block below."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward while empty, approaching the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving it upward and toward the wooden block set until it sits directly above the purple mounting rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the held white hexagonal nut to align it with the purple rod on the wooden base, moving the nut downward to fit it onto the rod and seat it on the nut positioned below."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: release: Right hand opens fingers gradually to release the white hexagonal nut seated on the purple rod, separating the hand from the nut surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward and to the right toward the loose white hexagonal block placed on the black table surface next to the wooden rack, staying empty without touching the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand contacts the loose white hexagonal block on the table, fingers closing and making small adjustments to form a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1852, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod until the block rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts it upward until the block fully leaves the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and leftward toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple post on the rack, fitting the block onto the post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place_release: Right hand positions the white cylindrical block with a purple rod into the matching hole on the wooden holder, opening fingers to release the block into place."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward toward the green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing fingers and adjusting contact points to secure a grip on the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand holds the green square block and lifts it vertically upward from the dark table surface until the block is completely raised off the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted green square block upward and leftward, moving it to the position above the white capped cylinders on the light wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand makes small fine positional adjustments to the green square block, aligning it with the top of the rightmost purple-tipped white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2414, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand lowers the aligned green square block vertically downward onto the top of the target purple-tipped white cylinder until the block is stably supported by the cylinder."}], "episode_index": 33}
+{"source_uid": "9a7b0143e4894e5f", "num_frames": 2238, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table in front of the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "517ca30f-09a9-4bdd-8b7c-fa603bf3c0c6"}, {"label": "valid", "start_step": 0, "end_step": 2207, "id": "UMVTDK0-QUCuRiQXtakCC"}, {"label": "subtasks", "start_step": 75, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grip on the block."}, {"label": "goal", "start_step": 156, "end_step": 285, "id": "86c38250-2f7f-4b01-a97d-ee4cca9585e8"}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green cubic block upwards until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green cubic block to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green cubic block onto the target purple rod by aligning the block's hole with the rod and lowering it down."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: pull_transport: Right hand pulls the white hexagonal block out of the wooden base and transports it down to the black table surface."}, {"label": "goal", "start_step": 286, "end_step": 360, "id": "da89d0d9-5bea-4e1b-8979-68ab041ed1a1"}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 361, "end_step": 510, "id": "9d825692-3546-41e5-b978-4436cd9f7dd3"}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 511, "end_step": 585, "id": "018c910a-67b5-4bf8-a974-c97b9a0dc663"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 586, "end_step": 720, "id": "bb418c73-b75a-4049-846a-d39ec2e45548"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 721, "end_step": 820, "id": "9277aaf8-2af4-484b-b533-bbf050f870d9"}, {"label": "subtasks", "start_step": 758, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 821, "end_step": 1010, "id": "753bd0d5-3153-4488-9681-ab5486e8cbe0"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hollow block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1011, "end_step": 1095, "id": "7759d1e1-34ca-48f0-afe5-fe4466dfb1e0"}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the green hollow block on the table."}, {"label": "goal", "start_step": 1096, "end_step": 1240, "id": "d6c2eb72-2f22-4c57-8c05-1aa96ec99454"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by inserting it downwards onto the rod."}, {"label": "goal", "start_step": 1241, "end_step": 1320, "id": "e6631339-7f96-45b3-bc36-e526fb60b2f1"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward from the wooden base towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to establish a stable grip."}, {"label": "goal", "start_step": 1321, "end_step": 1465, "id": "90dbc5d6-e6cd-4d0b-96ac-2a329ef9fd8e"}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1372, "end_step": 1454, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1466, "end_step": 1555, "id": "9cf5815f-323d-495b-9794-bcff32556a9d"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1556, "end_step": 1745, "id": "3e51b66f-5d70-4027-81a3-687bcb54dfa0"}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring which is placed on the purple rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches towards the other white ring on the black table."}, {"label": "goal", "start_step": 1746, "end_step": 1780, "id": "63e43208-5f29-47df-8d12-40ffb6a1b3c2"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1781, "end_step": 1950, "id": "352271db-fa66-49b4-aba5-e836677471b0"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden block base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the cylindrical peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block and moves slightly away."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green block placed on the table."}, {"label": "goal", "start_step": 1951, "end_step": 2025, "id": "224f76a8-3141-453a-a650-1e205ce019b4"}, {"label": "subtasks", "start_step": 1988, "end_step": 2047, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches the green block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 2026, "end_step": 2165, "id": "8e05704c-3293-46e6-8a08-fdb5134c7c40"}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it towards the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hollow block with the white bottle with purple cap and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hollow block after it is fitted onto the bottle."}, {"label": "home", "start_step": 2208, "end_step": 2237, "id": "RtWamdNaMOkrCBT5OQ6OS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 75, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green cubic block upwards until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green cubic block to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green cubic block onto the target purple rod by aligning the block's hole with the rod and lowering it down."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: pull_transport: Right hand pulls the white hexagonal block out of the wooden base and transports it down to the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 758, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hollow block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the green hollow block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by inserting it downwards onto the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward from the wooden base towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to establish a stable grip."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1372, "end_step": 1454, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring which is placed on the purple rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches towards the other white ring on the black table."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden block base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the cylindrical peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block and moves slightly away."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green block placed on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2047, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it towards the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hollow block with the white bottle with purple cap and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hollow block after it is fitted onto the bottle."}], "episode_index": 34}
+{"source_uid": "deb040551f6f75a8", "num_frames": 2497, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward and slightly leftward from its initial raised position on the right side, approaching the green hexagonal nut on the black table in front of the wooden base while remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "45351a07-56d4-4f6b-9835-4268b78f9644"}, {"label": "valid", "start_step": 0, "end_step": 2467, "id": "kZPCsKOAcJC8f1FzQ845m"}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut, closing its fingers and making minor positional adjustments to establish a grip on the nut."}, {"label": "goal", "start_step": 141, "end_step": 285, "id": "adc5ffb2-fc27-447c-bc2b-1ee32c92919a"}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the wooden peg board, positioning the block directly above an empty purple peg."}, {"label": "subtasks", "start_step": 210, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, then lowers the block vertically to slide it down the peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, starting to move away from the assembled block."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from the area of the wooden peg base toward the loose white hexagonal block resting on the black table surface, fingers held in an open position as it approaches the target block."}, {"label": "goal", "start_step": 286, "end_step": 360, "id": "c5e47659-c4ee-4ee1-b85c-63a7d1b46f7f"}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the black table surface, making small continuous adjustments to finger position and contact points to form a stable grip, with the block remaining in contact with the table surface throughout."}, {"label": "goal", "start_step": 361, "end_step": 505, "id": "c6a1d627-5dcd-4228-9680-ce4d851f4d2a"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut slowly to slide it down the rod, fitting it into the assembly on the green base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without obvious movement, keeping it stable on the green base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: place_release: Right hand positions the grasped green-and-white cylindrical block onto the purple peg of the wooden assembly base, releasing grip once the block is fully supported by the peg."}, {"label": "goal", "start_step": 506, "end_step": 585, "id": "130a7a7f-20da-4377-a000-a658c4d99a94"}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front-left white hexagonal nut on the black table surface, approaching the nut without contact."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 586, "end_step": 810, "id": "70164b92-79ac-4a15-82fc-951600dad5e1"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the gripped white hexagonal nut vertically upwards, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the leftmost purple peg on the wooden assembly base, positioning the nut directly above the target peg."}, {"label": "subtasks", "start_step": 638, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal nut with the leftmost purple peg, then lowers the nut along the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the table in front of the wooden assembly base."}, {"label": "goal", "start_step": 811, "end_step": 875, "id": "b9dc9a41-dc8c-4e31-9f07-fe5c65abb9d5"}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small grip adjustments to establish stable contact with the nut."}, {"label": "goal", "start_step": 876, "end_step": 1040, "id": "f766979d-fabb-407c-846f-b169a72bae19"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the held white hexagonal nut upward and horizontally to position it above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central bore of the white hexagonal nut with the purple peg, making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block rack toward the front-left green hexagonal nut on the table, remaining empty with fingers slightly extended."}, {"label": "goal", "start_step": 1041, "end_step": 1125, "id": "04a92a09-569e-498a-80d5-aa39ef272778"}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the front-left green hexagonal nut on the table, adjusting and closing fingers to form a grip on the nut."}, {"label": "goal", "start_step": 1126, "end_step": 1270, "id": "6c104438-79fd-4d9c-8cb0-1f8d8da41b10"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to position it directly above the purple cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg, lowers the block and makes small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple post on the wooden assembly base, fits the block onto the post, opens fingers to release the block."}, {"label": "goal", "start_step": 1271, "end_step": 1360, "id": "660bc17d-faa4-4537-ac1c-656d9c290e5d"}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the loose green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose green hexagonal block on the black table, adjusting finger positions to establish a grip on the block."}, {"label": "goal", "start_step": 1361, "end_step": 1490, "id": "21554494-188d-439a-b496-9f10465cc0b0"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post on the base and lowers the block to fit onto the post, making slight wrist and finger adjustments to align the parts during assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the matching wooden peg on the wooden base, releases the grip once the block rests stably on the peg."}, {"label": "goal", "start_step": 1491, "end_step": 1575, "id": "135bc6cb-2176-46ae-8a2f-1066d7e93381"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block placed on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward toward the purple rod on the wooden hexagonal nut stand."}, {"label": "goal", "start_step": 1576, "end_step": 1690, "id": "3fada641-cbda-45a5-b7a8-1cfda9d3311f"}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal nut with the purple rod, slides the nut down the rod to seat it on the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod of the wooden block stand, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1691, "end_step": 1785, "id": "fe6efe94-3d5c-49ae-9f11-fb8220a4e05f"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block resting on the dark table surface, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the loose white hexagonal block on the table, adjusting finger positions and closing fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upwards from the dark table surface."}, {"label": "goal", "start_step": 1786, "end_step": 2050, "id": "9df46298-b6eb-4d47-b367-c839ef801204"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upwards and toward the wooden assembly rack, positioning it above the purple vertical rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating from the block now seated on the purple rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves rightward and downward from above the wooden block set toward the green cube placed on the table surface."}, {"label": "goal", "start_step": 2051, "end_step": 2130, "id": "2882ed31-bb63-47f0-8fd4-2a3917081ac8"}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube on the table, with the cube remaining in contact with the table surface."}, {"label": "goal", "start_step": 2131, "end_step": 2410, "id": "e5ae17f1-11de-44af-8b84-721c86ad09ac"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moves it upward and leftward to the area above the wooden bottle rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green block, aligns its central hole with the purple-topped bottle below, lowers the block to fit it onto the bottle until the block is stably supported."}, {"label": "home", "start_step": 2468, "end_step": 2496, "id": "T-EL7ksOzkyLWfEeDbX1J"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward and slightly leftward from its initial raised position on the right side, approaching the green hexagonal nut on the black table in front of the wooden base while remaining empty."}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut, closing its fingers and making minor positional adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the wooden peg board, positioning the block directly above an empty purple peg."}, {"label": "subtasks", "start_step": 210, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, then lowers the block vertically to slide it down the peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, starting to move away from the assembled block."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from the area of the wooden peg base toward the loose white hexagonal block resting on the black table surface, fingers held in an open position as it approaches the target block."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the black table surface, making small continuous adjustments to finger position and contact points to form a stable grip, with the block remaining in contact with the table surface throughout."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut slowly to slide it down the rod, fitting it into the assembly on the green base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without obvious movement, keeping it stable on the green base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: place_release: Right hand positions the grasped green-and-white cylindrical block onto the purple peg of the wooden assembly base, releasing grip once the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front-left white hexagonal nut on the black table surface, approaching the nut without contact."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the gripped white hexagonal nut vertically upwards, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the leftmost purple peg on the wooden assembly base, positioning the nut directly above the target peg."}, {"label": "subtasks", "start_step": 638, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal nut with the leftmost purple peg, then lowers the nut along the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the table in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small grip adjustments to establish stable contact with the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the held white hexagonal nut upward and horizontally to position it above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central bore of the white hexagonal nut with the purple peg, making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block rack toward the front-left green hexagonal nut on the table, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the front-left green hexagonal nut on the table, adjusting and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to position it directly above the purple cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg, lowers the block and makes small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple post on the wooden assembly base, fits the block onto the post, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the loose green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose green hexagonal block on the black table, adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post on the base and lowers the block to fit onto the post, making slight wrist and finger adjustments to align the parts during assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the matching wooden peg on the wooden base, releases the grip once the block rests stably on the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block placed on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward toward the purple rod on the wooden hexagonal nut stand."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal nut with the purple rod, slides the nut down the rod to seat it on the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod of the wooden block stand, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block resting on the dark table surface, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the loose white hexagonal block on the table, adjusting finger positions and closing fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upwards from the dark table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upwards and toward the wooden assembly rack, positioning it above the purple vertical rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating from the block now seated on the purple rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves rightward and downward from above the wooden block set toward the green cube placed on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube on the table, with the cube remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moves it upward and leftward to the area above the wooden bottle rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green block, aligns its central hole with the purple-topped bottle below, lowers the block to fit it onto the bottle until the block is stably supported."}], "episode_index": 35}
+{"source_uid": "f82b0d6ccfbbe06e", "num_frames": 2392, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjustment: Left hand stays at the left side of the workspace in an empty state, with fingers performing slight posture adjustments without touching any operational objects. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed on the table in front-left of the wooden peg stand, with fingers held open and making no contact with the target object during movement."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "796c6c92-4ad5-4edf-828d-3a74b07a31af"}, {"label": "valid", "start_step": 0, "end_step": 2359, "id": "EsMhtnQUt-Rt-4c7QXRad"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed on the table in front-left of the wooden peg stand, with fingers held open and making no contact with the target object during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand reaches the vicinity of the green hexagonal nut on the table, with fingers closing and adjusting contact positions to form a stable grasp on the nut."}, {"label": "goal", "start_step": 131, "end_step": 255, "id": "046122c5-d1fd-40b4-b4ab-b486c977bde2"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand moves the suspended green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to nest it securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple peg without observable movement, rotation or finger adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves forward and downward from the wooden assembly stand toward the front white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 256, "end_step": 330, "id": "fdd30010-f431-47ea-ba10-93f0a0ca96fd"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closing fingers and adjusting contact points to form a grip on the nut resting on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal nut on the black table, lifting the nut completely off the table surface."}, {"label": "goal", "start_step": 331, "end_step": 655, "id": "cb6ea1a4-f287-4ddd-b9b3-449ae0ec7c3e"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple vertical rod on the wooden assembly rack, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position and angle of the white hexagonal nut to align its central hole with the purple vertical rod, nesting the nut onto the rod and making small positional adjustments during assembly."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple peg of the wooden base until the block is stably supported, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 656, "end_step": 740, "id": "6b756cf2-eb14-46d0-802b-764f98069f8e"}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the black table surface, holding fingers in a slightly spread posture."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 741, "end_step": 915, "id": "12f83003-2361-45ed-afe6-bccb531b6c8f"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black work surface, moving it upward to a position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the held white hexagonal nut to align its central hole with the top of the target purple peg."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand lowers the aligned white hexagonal nut down the purple peg until it rests securely on the underlying nut stack on the wooden assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: release: Right hand opens its fingers to release grip on the seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the white cylindrical piece onto the purple peg of the wooden assembly base, with fingers opening to release the piece once it is supported on the peg."}, {"label": "goal", "start_step": 916, "end_step": 1020, "id": "05345229-0e87-413a-ae9e-9bff78b6e975"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table surface in front of the assembly base, without contacting the nut."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1155, "id": "1e89b6c8-2757-4cf6-8b8d-4920ed3954d0"}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until it rests stably on the lower white hexagonal nut on the same peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal block on the black table surface, with fingers slightly spread as it approaches the target block."}, {"label": "goal", "start_step": 1156, "end_step": 1215, "id": "c1a6fbf9-7f11-4ff7-9bdb-ac1e69e876a9"}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes its thumb and fingers around the green hexagonal block on the table, adjusting grip slightly to form a stable hold on the block which remains resting on the table."}, {"label": "goal", "start_step": 1216, "end_step": 1355, "id": "70243f4a-54a2-430d-922a-f8137cb85c42"}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, completely separating the block from the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and toward the purple vertical rod on the wooden block stand, moving the block to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the green hexagonal block slightly to align its central hole with the purple rod below, guiding the block onto the rod to establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod, until the block rests steadily on the white hexagonal block below and is supported by the underlying block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal block on the dark table surface, with open fingers."}, {"label": "goal", "start_step": 1356, "end_step": 1415, "id": "983cffd8-c0f1-4bb6-85a3-142f075af57f"}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers to securely grasp the white hexagonal block resting on the table surface."}, {"label": "goal", "start_step": 1416, "end_step": 1645, "id": "fc979cef-2809-4b93-921f-ea81510b1a3b"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position above the purple vertical post on the wooden block base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top peg of the assembly stand to seat the block stably, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 1646, "end_step": 1725, "id": "a105c54c-378a-4591-a686-e85eaff77543"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward-right toward the loose white hexagonal block on the black table surface, remaining empty with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger contact positions to form a grasp on the block while the block rests on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and left toward the purple rod on the wooden assembly stand."}, {"label": "goal", "start_step": 1726, "end_step": 1870, "id": "e2ce80e5-8d40-4a44-aa14-265ed13346b6"}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden assembly stand, lowers the nut and makes slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves diagonally downward to the right toward the white hexagonal nut on the black table surface, staying empty and not making contact with the target nut during the movement."}, {"label": "goal", "start_step": 1871, "end_step": 1970, "id": "de69144b-37ca-4dc7-bbb4-812f03aada66"}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, making small adjustments to finger positions to form a grip on the nut."}, {"label": "goal", "start_step": 1971, "end_step": 2085, "id": "b8def235-8348-4c43-a36f-ccc0418ba604"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the rack, lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves diagonally downward and rightward from the position adjacent to the stacked white bottles on the wooden base, approaching the green cubic block on the dark table surface."}, {"label": "goal", "start_step": 2086, "end_step": 2175, "id": "da4ee312-a507-4b6b-acb7-e6bb550d8f11"}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the side of the green cubic block, with fingers making slight positional adjustments to establish a stable grasp on the block."}, {"label": "goal", "start_step": 2176, "end_step": 2330, "id": "efab6229-07f3-4ad0-8745-6ac477d68122"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it fully off the table surface, and moves it upward and rightward to position directly above the target white bottle on the wooden storage rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns its central hole with the top of the target white bottle, lowers the block to nest it securely onto the bottle, and opens fingers to release the block once it is supported by the bottle."}, {"label": "home", "start_step": 2360, "end_step": 2391, "id": "waNtdH-aqxTNLQvGTprjZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjustment: Left hand stays at the left side of the workspace in an empty state, with fingers performing slight posture adjustments without touching any operational objects. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed on the table in front-left of the wooden peg stand, with fingers held open and making no contact with the target object during movement."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed on the table in front-left of the wooden peg stand, with fingers held open and making no contact with the target object during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand reaches the vicinity of the green hexagonal nut on the table, with fingers closing and adjusting contact positions to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand moves the suspended green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to nest it securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple peg without observable movement, rotation or finger adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves forward and downward from the wooden assembly stand toward the front white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closing fingers and adjusting contact points to form a grip on the nut resting on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal nut on the black table, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple vertical rod on the wooden assembly rack, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position and angle of the white hexagonal nut to align its central hole with the purple vertical rod, nesting the nut onto the rod and making small positional adjustments during assembly."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple peg of the wooden base until the block is stably supported, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the black table surface, holding fingers in a slightly spread posture."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black work surface, moving it upward to a position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the held white hexagonal nut to align its central hole with the top of the target purple peg."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand lowers the aligned white hexagonal nut down the purple peg until it rests securely on the underlying nut stack on the wooden assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: release: Right hand opens its fingers to release grip on the seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the white cylindrical piece onto the purple peg of the wooden assembly base, with fingers opening to release the piece once it is supported on the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table surface in front of the assembly base, without contacting the nut."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until it rests stably on the lower white hexagonal nut on the same peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal block on the black table surface, with fingers slightly spread as it approaches the target block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes its thumb and fingers around the green hexagonal block on the table, adjusting grip slightly to form a stable hold on the block which remains resting on the table."}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, completely separating the block from the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and toward the purple vertical rod on the wooden block stand, moving the block to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the green hexagonal block slightly to align its central hole with the purple rod below, guiding the block onto the rod to establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod, until the block rests steadily on the white hexagonal block below and is supported by the underlying block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal block on the dark table surface, with open fingers."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers to securely grasp the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position above the purple vertical post on the wooden block base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top peg of the assembly stand to seat the block stably, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward-right toward the loose white hexagonal block on the black table surface, remaining empty with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger contact positions to form a grasp on the block while the block rests on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and left toward the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden assembly stand, lowers the nut and makes slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves diagonally downward to the right toward the white hexagonal nut on the black table surface, staying empty and not making contact with the target nut during the movement."}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, making small adjustments to finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the rack, lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves diagonally downward and rightward from the position adjacent to the stacked white bottles on the wooden base, approaching the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the side of the green cubic block, with fingers making slight positional adjustments to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it fully off the table surface, and moves it upward and rightward to position directly above the target white bottle on the wooden storage rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns its central hole with the top of the target white bottle, lowers the block to nest it securely onto the bottle, and opens fingers to release the block once it is supported by the bottle."}], "episode_index": 36}
+{"source_uid": "5c084c7224c41abe", "num_frames": 2637, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand makes minor posture adjustments at the left side of the table, with no contact to any operating object. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop in front of the wooden peg holder."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "0be31ef5-ba70-403d-a66e-ca6ae5a4366e"}, {"label": "valid", "start_step": 0, "end_step": 2603, "id": "bkPskRQAgz-srvVgjccMB"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop in front of the wooden peg holder."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block, with fingers adjusting to establish a stable grip."}, {"label": "goal", "start_step": 141, "end_step": 475, "id": "b19b9706-92aa-47f7-b797-ef1d61f46004"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple rod."}, {"label": "subtasks", "start_step": 218, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple rod to fit it into position."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white ring onto the rod of the wooden base on the black table."}, {"label": "goal", "start_step": 476, "end_step": 570, "id": "36a67f9b-e90c-4b2d-91f5-c7aba977aeda"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the target purple rod on the rack."}, {"label": "goal", "start_step": 571, "end_step": 725, "id": "299906b8-dfdc-4726-b4f1-76575068fc7e"}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the top of the target purple rod."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand presses the white hexagonal block down to fit onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block that is already fitted on the purple rod."}, {"label": "goal", "start_step": 726, "end_step": 810, "id": "3ef6954d-7b2c-4a89-a6c9-cb825d9f6736"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 811, "end_step": 1010, "id": "9222dc1e-f037-4fb4-819e-f30f8cc07d4a"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 848, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1011, "end_step": 1090, "id": "d004bcfa-c98c-4c05-ac9f-308f087610f5"}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1091, "end_step": 1250, "id": "43658e9e-9892-4508-86ba-3fa9adab0138"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white ring placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1251, "end_step": 1325, "id": "e22a3f31-852e-47a4-b080-2bfdd3ecdc14"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black table surface."}, {"label": "goal", "start_step": 1326, "end_step": 1465, "id": "0ca3f96b-8c9b-4af6-8c77-4620c8baa34e"}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1466, "end_step": 1545, "id": "013d7f07-05cd-46d1-9e70-5a5e22dbca22"}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white ring on the purple rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1546, "end_step": 1710, "id": "24ebb463-b3cc-4655-b169-f2b4ddbfa156"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hollow cylinder block placed on the table below the wooden rack."}, {"label": "goal", "start_step": 1711, "end_step": 1775, "id": "b94592bd-dc1b-4f6b-aae6-5649b5db9737"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder block on the table."}, {"label": "goal", "start_step": 1776, "end_step": 1945, "id": "99047498-f0e2-4cde-aa1e-48b7878e8bc0"}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hollow cylinder block off the table and transports it above the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hollow cylinder block with the purple vertical post and fits it onto the post."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hollow cylinder block fitted on the purple post."}, {"label": "goal", "start_step": 1946, "end_step": 2015, "id": "022d3eb3-c99a-4a8e-b0be-df85b932348c"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close around the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hollow cylinder on the right side of the table without moving."}, {"label": "goal", "start_step": 2016, "end_step": 2335, "id": "6a12291d-a296-460f-a319-d512a8e855dd"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hollow cylinder towards the rightmost purple pillar on the wooden block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2130, "end_step": 2354, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hollow cylinder downwards to fit it stably on the purple pillar."}, {"label": "goal", "start_step": 2336, "end_step": 2430, "id": "0addf906-0b6c-4324-88ff-114ff14c9802"}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the black table surface, forming a stable grip."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle on the wooden rack."}, {"label": "goal", "start_step": 2431, "end_step": 2565, "id": "03a2808c-c58a-4559-adff-7e2d1165f6d5"}, {"label": "subtasks", "start_step": 2468, "end_step": 2564, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the green block fitted on the white bottle and retreats slightly from the rack."}, {"label": "home", "start_step": 2604, "end_step": 2636, "id": "nNyWnU1-dwodQJzIGW1mo"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand makes minor posture adjustments at the left side of the table, with no contact to any operating object. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop in front of the wooden peg holder."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop in front of the wooden peg holder."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block, with fingers adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple rod."}, {"label": "subtasks", "start_step": 218, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple rod to fit it into position."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white ring onto the rod of the wooden base on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the target purple rod on the rack."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the top of the target purple rod."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand presses the white hexagonal block down to fit onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block that is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 848, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white ring placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white ring on the purple rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hollow cylinder block placed on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder block on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hollow cylinder block off the table and transports it above the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hollow cylinder block with the purple vertical post and fits it onto the post."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hollow cylinder block fitted on the purple post."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close around the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hollow cylinder on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hollow cylinder towards the rightmost purple pillar on the wooden block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2130, "end_step": 2354, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hollow cylinder downwards to fit it stably on the purple pillar."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the black table surface, forming a stable grip."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2468, "end_step": 2564, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the green block fitted on the white bottle and retreats slightly from the rack."}], "episode_index": 37}
+{"source_uid": "bb566cbd38a4c6c6", "num_frames": 2282, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: idle: Right hand stays empty at the right initial position above the table, with no obvious translational movement toward the central objects."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "01cd75a1-0af5-467b-a886-22ce9de54cf4"}, {"label": "valid", "start_step": 0, "end_step": 2248, "id": "AMaM3ddGv87PlcrORIAVQ"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves horizontally left toward the green hexagonal block placed in front of the wooden pegboard, remaining empty while approaching the target."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand contacts the front-left green hexagonal block near the pegboard, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 136, "end_step": 275, "id": "2938c046-a278-40f2-ae25-30bcaa8b8bae"}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to position the block's central hole directly above a purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand moves the grasped green hexagonal block downward along the purple peg, placing it onto the top surface of the existing white hexagonal block on the peg until it rests stably."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden component rack toward the white hexagonal nut on the black table surface, approaching the target nut without making contact."}, {"label": "goal", "start_step": 276, "end_step": 355, "id": "259f9722-f595-4bc0-a4ea-32443837e0e6"}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, with slight finger adjustments to form a grip on the nut."}, {"label": "goal", "start_step": 356, "end_step": 530, "id": "cfe8b560-94d3-460f-b33b-0cb23a38f5c5"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 398, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and makes small positional adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place_release: Right hand positions the green hexagonal block onto the purple peg of the wooden stand and releases its grip on the block."}, {"label": "goal", "start_step": 531, "end_step": 615, "id": "87b674d6-5fc7-4bca-a3cb-634225085a7b"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward through the air toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to establish a firm grip."}, {"label": "goal", "start_step": 616, "end_step": 755, "id": "b25bbee9-f3fe-4692-b501-319bcb07bc07"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table surface, then moves it upward and leftward to position it directly above the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, then moves the nut downward to fit the hole onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod until the nut rests steadily on the supporting green block below, maintaining grip on the nut throughout the movement."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach_grasp: Right hand moves downward from the position near the wooden block stand toward the hexagonal nut on the table in front of the stand, fingers stay slightly open during approach, close to establish initial contact with the target nut."}, {"label": "goal", "start_step": 756, "end_step": 825, "id": "495e294a-038c-4149-a7da-51233b7d2767"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the contacted hexagonal nut stably on the table surface, with no observable movement of the hand, fingers or the target nut."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the black table to form a stable grip."}, {"label": "goal", "start_step": 826, "end_step": 985, "id": "a02b8cdb-1b33-4244-a974-b1e55ca062a3"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block seated on the purple peg of the assembly stand."}, {"label": "goal", "start_step": 986, "end_step": 1065, "id": "b8a0d6ac-094a-4545-aa95-45978e421192"}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 1066, "end_step": 1225, "id": "f5e209d2-d556-4933-a5b6-32fe34e14ffa"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward toward the purple rod fixed on the wooden assembly base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit onto the rod until it rests on the white block below."}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block positioned on the purple peg of the wooden assembly stand."}, {"label": "goal", "start_step": 1226, "end_step": 1315, "id": "fc36b6e2-9ed8-40f2-9601-bc12cf8de566"}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the dark table surface to establish a grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift: Right hand holds the white hexagonal nut and moves upward, lifting the nut completely off the black table surface."}, {"label": "goal", "start_step": 1316, "end_step": 1425, "id": "c77275df-750a-4fed-a90b-30b65454aebe"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving toward the purple rod on the wooden block assembly until the nut is positioned directly above the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand holds the white hexagonal nut, aligns the nut's central hole with the purple rod, and moves downward to fit the nut onto the purple rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty from above the wooden block set downwards and rightwards to approach the nearest white hexagonal nut on the table."}, {"label": "goal", "start_step": 1426, "end_step": 1505, "id": "d3079cd6-15f4-41c9-984d-72e2b9c8793d"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the nearest white hexagonal nut on the table, making slight finger adjustments to establish a secure grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward to completely separate it from the dark table surface."}, {"label": "goal", "start_step": 1506, "end_step": 1665, "id": "be57f830-d8b0-4988-8250-e7d9fcab69b5"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: transport: Right hand carries the grasped white hexagonal block, moving it horizontally toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit it securely onto the rod over the existing block on the stand."}, {"label": "subtasks", "start_step": 1658, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward from the upper area near the purple cylinder to approach the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1666, "end_step": 1740, "id": "a0fd53ae-09f7-4469-8ea5-729ae732a486"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand flexes fingers to close around the white hexagonal nut, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface near the green block without moving."}, {"label": "goal", "start_step": 1741, "end_step": 1955, "id": "e19aaec6-8a3e-4c50-8c16-3f7936b08254"}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position above the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1815, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand lowers the white hexagonal block down onto the purple peg until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand releases the purple-topped cylinder on the wooden block holder, with fingers opening to separate from the cylinder surface."}, {"label": "goal", "start_step": 1956, "end_step": 2065, "id": "ad26f6f4-7874-4e7e-b24b-e61bce9a91a3"}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves down and right toward the small green block on the table, staying empty while approaching the target block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand adjusts finger positions around the small green block on the table, closing fingers to contact the block and prepare a stable grip."}, {"label": "goal", "start_step": 2066, "end_step": 2191, "id": "f5bcc23a-f17d-40cc-813c-dfbc9872eae9"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moves it upward and left toward the wooden bottle rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand lowers the green block onto the top of the front-right bottle on the rack, adjusts the block's position until it is stably supported by the bottle cap."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which stays seated on the bottle cap."}, {"label": "home", "start_step": 2249, "end_step": 2281, "id": "D_rvzQHzlyxJ8prEKRb0p"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: idle: Right hand stays empty at the right initial position above the table, with no obvious translational movement toward the central objects."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves horizontally left toward the green hexagonal block placed in front of the wooden pegboard, remaining empty while approaching the target."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand contacts the front-left green hexagonal block near the pegboard, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to position the block's central hole directly above a purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand moves the grasped green hexagonal block downward along the purple peg, placing it onto the top surface of the existing white hexagonal block on the peg until it rests stably."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden component rack toward the white hexagonal nut on the black table surface, approaching the target nut without making contact."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, with slight finger adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 398, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and makes small positional adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place_release: Right hand positions the green hexagonal block onto the purple peg of the wooden stand and releases its grip on the block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward through the air toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table surface, then moves it upward and leftward to position it directly above the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, then moves the nut downward to fit the hole onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod until the nut rests steadily on the supporting green block below, maintaining grip on the nut throughout the movement."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach_grasp: Right hand moves downward from the position near the wooden block stand toward the hexagonal nut on the table in front of the stand, fingers stay slightly open during approach, close to establish initial contact with the target nut."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the contacted hexagonal nut stably on the table surface, with no observable movement of the hand, fingers or the target nut."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the black table to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block seated on the purple peg of the assembly stand."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward toward the purple rod fixed on the wooden assembly base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit onto the rod until it rests on the white block below."}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block positioned on the purple peg of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the dark table surface to establish a grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift: Right hand holds the white hexagonal nut and moves upward, lifting the nut completely off the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving toward the purple rod on the wooden block assembly until the nut is positioned directly above the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand holds the white hexagonal nut, aligns the nut's central hole with the purple rod, and moves downward to fit the nut onto the purple rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty from above the wooden block set downwards and rightwards to approach the nearest white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the nearest white hexagonal nut on the table, making slight finger adjustments to establish a secure grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: transport: Right hand carries the grasped white hexagonal block, moving it horizontally toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit it securely onto the rod over the existing block on the stand."}, {"label": "subtasks", "start_step": 1658, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward from the upper area near the purple cylinder to approach the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand flexes fingers to close around the white hexagonal nut, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface near the green block without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position above the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1815, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand lowers the white hexagonal block down onto the purple peg until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand releases the purple-topped cylinder on the wooden block holder, with fingers opening to separate from the cylinder surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves down and right toward the small green block on the table, staying empty while approaching the target block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand adjusts finger positions around the small green block on the table, closing fingers to contact the block and prepare a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moves it upward and left toward the wooden bottle rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand lowers the green block onto the top of the front-right bottle on the rack, adjusts the block's position until it is stably supported by the bottle cap."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which stays seated on the bottle cap."}], "episode_index": 38}
+{"source_uid": "81eae6a2729593e2", "num_frames": 2279, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green cubic block on the left front side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "3128f0de-1e42-4b53-9f5b-4deb80de25a7"}, {"label": "valid", "start_step": 0, "end_step": 2248, "id": "lO_NELQoI4rzPVnWSG3Em"}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the black table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to form a grip."}, {"label": "goal", "start_step": 126, "end_step": 270, "id": "6658d941-16f4-4b68-b4b7-8b450de5d6fd"}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the area above the leftmost vertical post of the peg assembly set."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the green hexagonal block and mates it onto the leftmost vertical post of the peg assembly set."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight grip adjustments on the green hexagonal block fitted on the leftmost post, with fingers moving subtly to reposition contact points."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and moving away from the block surface."}, {"label": "goal", "start_step": 271, "end_step": 350, "id": "5989cccb-4c92-436f-a151-24a345b900f9"}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the green base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 351, "end_step": 495, "id": "b590b035-407e-4573-8a80-b361d0a8b891"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the supporting surface and transports it to the top of the leftmost purple pillar."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the leftmost purple pillar by aligning and fitting it onto the pillar."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal object down along the leftmost purple pillar to apply downward pressure."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the peg board to approach the white hexagonal piece on the table."}, {"label": "goal", "start_step": 496, "end_step": 710, "id": "70e2effa-aa87-4018-af6e-9869ad2287ff"}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal piece on the table slightly to adjust its orientation, with the piece staying on the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 711, "end_step": 870, "id": "838f8a80-30ac-4a41-a460-6e50fac281ac"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost post of the test tube rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost post of the test tube rack without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple vertical rod, with fingers opening."}, {"label": "goal", "start_step": 871, "end_step": 950, "id": "a1f3fed0-1e8e-476a-a707-d6831ef0e8f0"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the left side of the table."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 951, "end_step": 1090, "id": "233e4578-f54f-47c1-b6cd-eae4a1de38d8"}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece fitted on the purple peg, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the green hexagonal piece on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1080, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for and grasps the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1091, "end_step": 1125, "id": "170f99c4-6435-4d53-a720-35f62e6ecac9"}, {"label": "goal", "start_step": 1126, "end_step": 1245, "id": "e182cf07-4e05-472d-b954-0278f0ee4b4a"}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward from the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning its central hole with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block downward along the purple peg until it rests on the supporting white piece below."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1246, "end_step": 1340, "id": "7c500288-6a53-4ec0-b0c3-f8b991d8ff47"}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower area of the black table, keeping empty."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower black table, with fingers closing around the block."}, {"label": "goal", "start_step": 1341, "end_step": 1530, "id": "18d7c3ea-fe66-4020-9486-9ab5196e71ee"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the upper white hexagonal piece on the black table, not yet contacting the piece."}, {"label": "goal", "start_step": 1531, "end_step": 1600, "id": "d9d003e3-a682-406d-a8f8-ffdbe7c1e899"}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal piece on the table, with slight grip adjustments while the piece remains on the table surface."}, {"label": "goal", "start_step": 1601, "end_step": 1830, "id": "89b2bebf-f78e-4b63-bffa-011eae645249"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple vertical rod and lowers it to mate onto the top of the white cylinder below the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple rod without any movement."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1831, "end_step": 1915, "id": "21c200c4-39f8-4c4c-b9a2-9ffc5047416d"}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "goal", "start_step": 1916, "end_step": 2025, "id": "77bb03b6-ebce-4775-86c7-627e0b2fdaeb"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table while transporting it toward the wooden rack with cylindrical posts."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost post of the wooden rack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the purple-capped white bottle on the wooden tray."}, {"label": "goal", "start_step": 2026, "end_step": 2100, "id": "ad728647-4d6b-43c7-849e-197b29d2d2ea"}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches for the green cubic object on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2101, "end_step": 2210, "id": "ce006341-e6f0-4b9d-b4e3-f4183632a233"}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it towards the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the rightmost white bottle and fits it onto the bottle."}, {"label": "home", "start_step": 2249, "end_step": 2278, "id": "MMHHjmhAF2ih92Qiooe0-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green cubic block on the left front side of the wooden pegboard."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the black table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the area above the leftmost vertical post of the peg assembly set."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the green hexagonal block and mates it onto the leftmost vertical post of the peg assembly set."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight grip adjustments on the green hexagonal block fitted on the leftmost post, with fingers moving subtly to reposition contact points."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and moving away from the block surface."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the green base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the supporting surface and transports it to the top of the leftmost purple pillar."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the leftmost purple pillar by aligning and fitting it onto the pillar."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal object down along the leftmost purple pillar to apply downward pressure."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the peg board to approach the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal piece on the table slightly to adjust its orientation, with the piece staying on the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost post of the test tube rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost post of the test tube rack without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple vertical rod, with fingers opening."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the left side of the table."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece fitted on the purple peg, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the green hexagonal piece on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1080, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for and grasps the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward from the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning its central hole with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block downward along the purple peg until it rests on the supporting white piece below."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower area of the black table, keeping empty."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the upper white hexagonal piece on the black table, not yet contacting the piece."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal piece on the table, with slight grip adjustments while the piece remains on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple vertical rod and lowers it to mate onto the top of the white cylinder below the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple rod without any movement."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table while transporting it toward the wooden rack with cylindrical posts."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost post of the wooden rack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the purple-capped white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches for the green cubic object on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it towards the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the rightmost white bottle and fits it onto the bottle."}], "episode_index": 39}
+{"source_uid": "e3cc2692dd8bc45b", "num_frames": 2538, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block below the left side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "afd7c51c-1e66-4517-bd2d-c05404eaca93"}, {"label": "valid", "start_step": 0, "end_step": 2506, "id": "C3tY9p96TChS_kzumLDPZ"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it above the purple peg on the wooden base."}, {"label": "goal", "start_step": 131, "end_step": 255, "id": "7ad86371-2cfd-4c33-ae4a-095f02f2251a"}, {"label": "subtasks", "start_step": 150, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base by lowering it vertically."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the assembly rack to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 256, "end_step": 390, "id": "11aae338-6e8f-47a1-a18e-8952d89f3459"}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to establish stable grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal nut placed on the black tabletop."}, {"label": "goal", "start_step": 391, "end_step": 545, "id": "5fa13e0a-881f-4b1d-9a55-13d192955ee1"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and inserts it downwards onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the green base."}, {"label": "goal", "start_step": 546, "end_step": 625, "id": "3b975a4d-924b-4a37-a83b-1c214be89921"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to establish grasp on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 626, "end_step": 755, "id": "6247e7a2-e29c-4527-80de-484ed26588cd"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the topmost purple rod of the wooden rack, adjusting to align the rod with the hole of the object."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical part onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 756, "end_step": 860, "id": "f8c56cf8-13a8-45fe-b8d3-589424eee690"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal part on the black table."}, {"label": "goal", "start_step": 861, "end_step": 980, "id": "22b2dba1-bad2-4115-929c-bcf2b71b0207"}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "goal", "start_step": 981, "end_step": 1070, "id": "86b4009d-bedb-422d-9e2c-09f120efbdcc"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1071, "end_step": 1195, "id": "0d81c6b9-1d98-44bd-b269-a9d98aeb5ad0"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block and moves it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the green block to contact the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand presses the green block down along the purple post to fit it in place."}, {"label": "goal", "start_step": 1196, "end_step": 1275, "id": "d38b0b7b-678b-4346-a10f-1a057b1c8850"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: idle: Right hand stays empty above the white hexagonal ring on the black table without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1276, "end_step": 1425, "id": "6b6f6dea-cd8b-4f11-aa7f-739fe0967e00"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1358, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block down onto the purple rod until it is supported by the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1426, "end_step": 1505, "id": "07942de9-2ab4-4983-8d37-70127d06a7c3"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "goal", "start_step": 1506, "end_step": 1660, "id": "8806e08c-addb-4179-a9c2-565727b7f545"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod by opening fingers."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand retreats slightly away from the purple rod after releasing the block."}, {"label": "goal", "start_step": 1661, "end_step": 1755, "id": "d67ad743-e6e1-4753-9538-0067b1405ce8"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches towards the white hexagonal piece placed on the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand makes contact with the white hexagonal piece, fingers adjust to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1756, "end_step": 2275, "id": "e40ef684-f20e-4cf6-bd28-79ef7dae4944"}, {"label": "subtasks", "start_step": 1792, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod to attempt assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand adjusts the position and angle of the white hexagonal block above the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod again and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, separating fingers from the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down on the purple rod to secure it."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand retreats from the assembly position towards the right side of the table."}, {"label": "goal", "start_step": 2276, "end_step": 2340, "id": "09a80e0e-f05b-4b99-ae6c-f172556c2cbd"}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers around the green block, adjusting grip to form stable grasp."}, {"label": "subtasks", "start_step": 2332, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the grasped green block up away from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the green ring towards the rightmost white bottle on the wooden tray."}, {"label": "goal", "start_step": 2341, "end_step": 2470, "id": "f263660a-c45a-44d4-8a20-12437d7eaa21"}, {"label": "subtasks", "start_step": 2385, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green ring onto the rightmost white bottle on the wooden tray."}, {"label": "home", "start_step": 2507, "end_step": 2537, "id": "-CQqR5n0gJIyR1aGAdRph"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base by lowering it vertically."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the assembly rack to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to establish stable grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal nut placed on the black tabletop."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and inserts it downwards onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the green base."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to establish grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the topmost purple rod of the wooden rack, adjusting to align the rod with the hole of the object."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical part onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block and moves it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the green block to contact the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand presses the green block down along the purple post to fit it in place."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: idle: Right hand stays empty above the white hexagonal ring on the black table without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1358, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block down onto the purple rod until it is supported by the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod by opening fingers."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand retreats slightly away from the purple rod after releasing the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches towards the white hexagonal piece placed on the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand makes contact with the white hexagonal piece, fingers adjust to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod to attempt assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand adjusts the position and angle of the white hexagonal block above the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod again and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, separating fingers from the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down on the purple rod to secure it."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand retreats from the assembly position towards the right side of the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers around the green block, adjusting grip to form stable grasp."}, {"label": "subtasks", "start_step": 2332, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the grasped green block up away from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the green ring towards the rightmost white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2385, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green ring onto the rightmost white bottle on the wooden tray."}], "episode_index": 40}
+{"source_uid": "18dbe043a90f2d56", "num_frames": 2679, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the green hexagonal nut on the black table surface, staying empty throughout the movement."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "3df47c98-dc28-44f6-86eb-1b4115a34c13"}, {"label": "valid", "start_step": 0, "end_step": 2646, "id": "4IjvBvJUCaaIo3swsk26Z"}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal nut on the table, making small finger and wrist movements to establish grip on the nut which remains on the table surface."}, {"label": "goal", "start_step": 141, "end_step": 255, "id": "4fcca199-c380-4361-bf25-f1f3912f7486"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand moves vertically upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the wooden pegboard to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand lowers the green hexagonal block downward along the purple peg until the block rests securely on the wooden base of the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward from the wooden block assembly base toward the white hexagonal nut placed on the table surface in front of the base, without touching the target nut during the movement."}, {"label": "goal", "start_step": 256, "end_step": 345, "id": "73506125-78d7-49a0-af8a-2452e089f1fe"}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to establish a stable grasp, with the nut remaining supported by the table surface throughout the process."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upwards until it fully leaves the black table surface."}, {"label": "goal", "start_step": 346, "end_step": 485, "id": "fe39a2ab-2fcf-4ba5-bcd8-88a4d1ba8928"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the wooden peg assembly, moving it to a position directly above the target green base."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal nut to align its central hole with the purple post on the target green base, lowering the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the white hexagonal sleeve, moves downward to set it onto the purple peg on the wooden base, releasing the grip as the sleeve rests stably on the peg."}, {"label": "goal", "start_step": 486, "end_step": 575, "id": "7b23ab83-3541-4324-894e-4a219eab3d7e"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 576, "end_step": 775, "id": "e190e603-d350-41e5-8bd1-87ec82060d5c"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position above the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 622, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowers the nut to fit it onto the peg, and makes small positional adjustments to properly seat the nut on the assembly base."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand holds the white hexagonal block, moves downward to set it onto the wooden base peg until the block is stably supported on the base."}, {"label": "goal", "start_step": 776, "end_step": 870, "id": "7b6ecef3-a5a3-494d-85d7-fd3a2b892b93"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward toward the nearest white hexagonal block on the table surface, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a grip on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it completely off the black table surface and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "goal", "start_step": 871, "end_step": 1000, "id": "c21f1a2e-c29e-4378-b7f7-935bed128f5a"}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand holds the white hexagonal nut, aligns its central hole with the purple post on the wooden base, and lowers the nut to fit onto the post with slight grip adjustments to seat it properly."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base until the nut is stably supported, with fingers opening to release the nut."}, {"label": "goal", "start_step": 1001, "end_step": 1070, "id": "e052937d-6dac-43ee-9b27-18ead3be12fb"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base, approaching the front green hexagonal nut on the black table surface, without establishing stable contact or grasp with the nut across the segment."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1071, "end_step": 1300, "id": "547f07bf-8cae-4238-9638-f64e0a219230"}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, transporting it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align with the purple rod, lowering the block to fit onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: idle: Right hand remains stationary above the wooden assembly base, with fingers lightly touching the green block on the base, no active grip on any object, and no visible movement."}, {"label": "goal", "start_step": 1301, "end_step": 1410, "id": "2466d224-90f7-45b7-8a55-25c2e8ab81f2"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1350, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand positions fingers around the white hexagonal block on the table, closing fingers and making small adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1411, "end_step": 1560, "id": "dc05ed30-feb6-41bb-b088-61ec99cbfdc1"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly base, moving the nut downward to fit and seat onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty from above the right side of the stacked block set toward the white hexagonal nut placed on the table adjacent to the wooden block base."}, {"label": "goal", "start_step": 1561, "end_step": 1625, "id": "d7cf99b5-b2f0-41fb-9173-2b2d5370c9fe"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table and closes fingers to secure a stable grasp on the nut, which remains resting on the table surface."}, {"label": "goal", "start_step": 1626, "end_step": 1730, "id": "9da1f8e4-cc07-4e4f-8393-b568a529b3f3"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, then moves it upward and toward the left to position the nut directly above the purple vertical post on the block base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the light purple cylindrical block, moves it downward to insert into the corresponding hole on the wooden block base, opens fingers to release the block stably secured in the hole."}, {"label": "goal", "start_step": 1731, "end_step": 1820, "id": "6519bd84-9e00-4d1f-8c29-0ec1b5d748ec"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface, with no observable movement of the hand or the block."}, {"label": "goal", "start_step": 1821, "end_step": 1985, "id": "a5513ccc-ebd1-4473-b362-558db55a7dfe"}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to position it above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple post on the wooden stand, makes small positional adjustments to fit the block onto the post, and opens its fingers to release the seated block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2031, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward and rightward from the area adjacent to the stacked white bottle set, with fingers open, approaching the green cube placed on the table without making contact."}, {"label": "goal", "start_step": 1986, "end_step": 2085, "id": "ce46bf3e-2bdc-407a-869a-ca1726c7158d"}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand makes contact with the green cube on the table, fingers gradually close around the cube with minor positional adjustments to form a grip, while the cube stays resting on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand holds the green block placed on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "goal", "start_step": 2086, "end_step": 2605, "id": "7e4191c7-7e02-4630-ab53-aee729c9468d"}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand carries the lifted green block and moves it horizontally toward the purple cylindrical post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the green block to align its central hole with the top of the purple cylindrical post, guiding the block to fit onto the post."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand moves the green block downward along the purple post until the block rests stably on the rack, supported by the post structure."}, {"label": "home", "start_step": 2647, "end_step": 2678, "id": "YVS8P4ceOhkAxrsA038T5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the green hexagonal nut on the black table surface, staying empty throughout the movement."}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal nut on the table, making small finger and wrist movements to establish grip on the nut which remains on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand moves vertically upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the wooden pegboard to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand lowers the green hexagonal block downward along the purple peg until the block rests securely on the wooden base of the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward from the wooden block assembly base toward the white hexagonal nut placed on the table surface in front of the base, without touching the target nut during the movement."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to establish a stable grasp, with the nut remaining supported by the table surface throughout the process."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upwards until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the wooden peg assembly, moving it to a position directly above the target green base."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal nut to align its central hole with the purple post on the target green base, lowering the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the white hexagonal sleeve, moves downward to set it onto the purple peg on the wooden base, releasing the grip as the sleeve rests stably on the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position above the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 622, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowers the nut to fit it onto the peg, and makes small positional adjustments to properly seat the nut on the assembly base."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand holds the white hexagonal block, moves downward to set it onto the wooden base peg until the block is stably supported on the base."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward toward the nearest white hexagonal block on the table surface, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a grip on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it completely off the black table surface and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand holds the white hexagonal nut, aligns its central hole with the purple post on the wooden base, and lowers the nut to fit onto the post with slight grip adjustments to seat it properly."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base until the nut is stably supported, with fingers opening to release the nut."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base, approaching the front green hexagonal nut on the black table surface, without establishing stable contact or grasp with the nut across the segment."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, transporting it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align with the purple rod, lowering the block to fit onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: idle: Right hand remains stationary above the wooden assembly base, with fingers lightly touching the green block on the base, no active grip on any object, and no visible movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1350, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand positions fingers around the white hexagonal block on the table, closing fingers and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly base, moving the nut downward to fit and seat onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty from above the right side of the stacked block set toward the white hexagonal nut placed on the table adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table and closes fingers to secure a stable grasp on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, then moves it upward and toward the left to position the nut directly above the purple vertical post on the block base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the light purple cylindrical block, moves it downward to insert into the corresponding hole on the wooden block base, opens fingers to release the block stably secured in the hole."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to position it above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple post on the wooden stand, makes small positional adjustments to fit the block onto the post, and opens its fingers to release the seated block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2031, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward and rightward from the area adjacent to the stacked white bottle set, with fingers open, approaching the green cube placed on the table without making contact."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand makes contact with the green cube on the table, fingers gradually close around the cube with minor positional adjustments to form a grip, while the cube stays resting on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand holds the green block placed on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand carries the lifted green block and moves it horizontally toward the purple cylindrical post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the green block to align its central hole with the top of the purple cylindrical post, guiding the block to fit onto the post."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand moves the green block downward along the purple post until the block rests stably on the rack, supported by the post structure."}], "episode_index": 41}
+{"source_uid": "1141ff82447d94d2", "num_frames": 2668, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture at the left side of the table, remaining empty and without contact to any object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal part in front of the wooden base, with fingers open and empty."}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "8190b0dc-05df-45a7-a189-9c79887901ff"}, {"label": "valid", "start_step": 0, "end_step": 2636, "id": "uYknkm-CW_m_D0vTSN7A1"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal part in front of the wooden base, with fingers open and empty."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal part on the table, with slight finger adjustments to stabilize the grip, the part remains on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal part upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green hexagonal part with the leftmost purple peg on the wooden base, and inserts the part downward onto the peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 226, "end_step": 475, "id": "58897fd2-1854-4594-ac61-98fd8b0e4470"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and rightward to above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and moves it downward to fit the block onto the peg until it touches the base."}, {"label": "subtasks", "start_step": 285, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to ensure it is fully seated on the base."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the block on the pegboard, with fingers gradually opening."}, {"label": "goal", "start_step": 476, "end_step": 580, "id": "2c34edba-2c6a-4a5a-b796-c0c1e9b19d3d"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 581, "end_step": 720, "id": "a4ed5c96-fa2d-4b0b-9110-8778cc84baea"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it above the leftmost front purple post of the test tube rack."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost front purple post of the test tube rack, aligning the central hole and lowering it fully onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal piece on the purple post without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening and separating from the piece."}, {"label": "goal", "start_step": 721, "end_step": 825, "id": "93bc3006-bde0-4635-9bfb-8194562ce4b9"}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 826, "end_step": 960, "id": "46858951-5492-4c39-b999-a5105cc1f261"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 862, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand fits the white hexagonal block onto the leftmost peg of the wooden rack to complete assembly."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and detaching from the block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: idle: Right hand stays empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the white hexagonal object on the black table."}, {"label": "goal", "start_step": 961, "end_step": 1075, "id": "e61b7283-4436-4689-be10-ad3c1573867c"}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 1076, "end_step": 1235, "id": "cefef5f7-6a91-4cf1-bff8-a92bf8a8305a"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the middle purple peg and slides the block down the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1236, "end_step": 1330, "id": "2e68b651-0833-471e-a683-91c31671efa4"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1331, "end_step": 1460, "id": "4ffe83fc-03ce-4ef5-8cdc-a0baac09d917"}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the corresponding peg of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the purple rod and green block on the wooden pegboard, with fingers opening gradually."}, {"label": "goal", "start_step": 1461, "end_step": 1550, "id": "407d7f3e-e60e-4d18-9e4d-85a365b074b6"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow object on the green block at the right side of the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 1551, "end_step": 1675, "id": "946226c9-ed77-4ab3-b1a5-c0b4794ced08"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the supporting surface and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal object with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal object down along the purple peg to fit it firmly into position."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical part on the purple vertical rod, with fingers opening and separating from the part."}, {"label": "goal", "start_step": 1676, "end_step": 1785, "id": "ed7ad3d7-4a7f-48cb-9dc5-21a9a87bad80"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface with empty hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting contact position to form a stable grip."}, {"label": "goal", "start_step": 1786, "end_step": 1920, "id": "e132a4d7-ff32-4bd3-97fb-7acc2e460d50"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats from the purple rod area to the lower right side of the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1921, "end_step": 1995, "id": "4241462f-e8e4-4df1-bff6-3af78168dfa6"}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hollow block on the right side of the table without moving."}, {"label": "goal", "start_step": 1996, "end_step": 2145, "id": "1327dff0-ff39-4d22-a333-97f88206030c"}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hollow block with the purple rod by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hollow block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2146, "end_step": 2235, "id": "36797b5b-7872-4293-8e98-c078e5b32b9e"}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the purple top of the white bottle at the front right position of the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, without touching the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 2236, "end_step": 2595, "id": "35d3cf9b-9015-4648-848f-b977dd408dc6"}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the green hollow square block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the green hollow square block and moves left-upward to the position above the rightmost pillar of the white rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2361, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hollow square block with the rightmost pillar of the white rack and fits it down onto the pillar to form an assembly relationship."}, {"label": "subtasks", "start_step": 2362, "end_step": 2579, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green hollow square block downward along the pillar to adjust and compact its position on the pillar."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the green hollow square block, separating from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand moves rightward as an empty hand, retreating from the operation position near the white rack."}, {"label": "home", "start_step": 2637, "end_step": 2667, "id": "_vYTk4ngkRZl9yFoLb1JJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture at the left side of the table, remaining empty and without contact to any object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal part in front of the wooden base, with fingers open and empty."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal part in front of the wooden base, with fingers open and empty."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal part on the table, with slight finger adjustments to stabilize the grip, the part remains on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal part upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green hexagonal part with the leftmost purple peg on the wooden base, and inserts the part downward onto the peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and rightward to above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and moves it downward to fit the block onto the peg until it touches the base."}, {"label": "subtasks", "start_step": 285, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to ensure it is fully seated on the base."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the block on the pegboard, with fingers gradually opening."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it above the leftmost front purple post of the test tube rack."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost front purple post of the test tube rack, aligning the central hole and lowering it fully onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal piece on the purple post without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 862, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand fits the white hexagonal block onto the leftmost peg of the wooden rack to complete assembly."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and detaching from the block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: idle: Right hand stays empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the middle purple peg and slides the block down the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the corresponding peg of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the purple rod and green block on the wooden pegboard, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow object on the green block at the right side of the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the supporting surface and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal object with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal object down along the purple peg to fit it firmly into position."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical part on the purple vertical rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface with empty hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting contact position to form a stable grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats from the purple rod area to the lower right side of the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hollow block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hollow block with the purple rod by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hollow block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the purple top of the white bottle at the front right position of the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, without touching the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the green hollow square block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the green hollow square block and moves left-upward to the position above the rightmost pillar of the white rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2361, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hollow square block with the rightmost pillar of the white rack and fits it down onto the pillar to form an assembly relationship."}, {"label": "subtasks", "start_step": 2362, "end_step": 2579, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green hollow square block downward along the pillar to adjust and compact its position on the pillar."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the green hollow square block, separating from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand moves rightward as an empty hand, retreating from the operation position near the white rack."}], "episode_index": 42}
+{"source_uid": "2556948c6464ea6c", "num_frames": 2768, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture slightly at the left side of the operation area. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "c892aba1-717e-4f0d-97f9-93656720d941"}, {"label": "valid", "start_step": 0, "end_step": 2739, "id": "vGCkREggAvtn2MT65L7wn"}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand approaches the green cube, fingers open and adjust to make contact with the green cube to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green cube on the black tabletop without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "goal", "start_step": 136, "end_step": 330, "id": "4872707a-693e-4a54-b6f2-c37a0da35423"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block to above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the purple post without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 331, "end_step": 410, "id": "8f14c960-db63-435c-834a-cdd8c4e79c28"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes and adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand holds the white hexagonal workpiece and moves it to the position above the leftmost purple rod on the green base."}, {"label": "goal", "start_step": 411, "end_step": 570, "id": "90c32f87-0741-4ebd-8f7a-c8784c234595"}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal workpiece with the leftmost purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal workpiece down along the leftmost purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal workpiece."}, {"label": "goal", "start_step": 571, "end_step": 665, "id": "72f68d75-4835-4d77-89ed-10d1b2c32eb8"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 666, "end_step": 850, "id": "2ce43c19-2981-4bfd-8618-8fef9e2bc94e"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the middle wooden base."}, {"label": "goal", "start_step": 851, "end_step": 930, "id": "b167c477-8329-4a6a-ae78-5c654ec434c0"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it fully leaves the support."}, {"label": "goal", "start_step": 931, "end_step": 1070, "id": "f6ee146d-5372-4676-a8bf-da3982ee7fc4"}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod, then releases the grip on the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1071, "end_step": 1145, "id": "80e14275-fb58-4d8d-8708-0af7f1a8031c"}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 1146, "end_step": 1310, "id": "d3b92221-32ed-4ad7-bae2-26c0a4ecff98"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by aligning and pressing it down."}, {"label": "subtasks", "start_step": 1305, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1311, "end_step": 1385, "id": "668d38e6-f1bc-4fd2-9a6f-5f585c005a5c"}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1386, "end_step": 1530, "id": "062bb23b-fc0b-42da-b958-0200d4c4549a"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves from the wooden base area toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1531, "end_step": 1600, "id": "e456c72e-16a6-4475-b740-3d7894f472fd"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 1601, "end_step": 2035, "id": "85cab463-f926-4af6-80fa-75180a58d55e"}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the target post on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block to ensure stable fitting on the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "goal", "start_step": 2036, "end_step": 2125, "id": "34d2a115-f813-42a0-87ac-8358ccf697f3"}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the rightmost post of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 2126, "end_step": 2260, "id": "84b40458-2650-4370-ac6b-97fe411aafd5"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: reach: Left hand moves towards the wooden rack on the table. | Right hand: place: Right hand places the white hexagonal ring onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block with purple top upwards from the wooden base."}, {"label": "goal", "start_step": 2261, "end_step": 2365, "id": "8c2c9671-a52c-4978-ab25-de33f06a7221"}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the lower part of the black table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the black table surface."}, {"label": "goal", "start_step": 2366, "end_step": 2680, "id": "12ec6b86-bc6b-48b2-ac33-cee2cd89e681"}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2572, "end_step": 2661, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block and moves fingers away from the bottle."}, {"label": "home", "start_step": 2740, "end_step": 2767, "id": "paDE9XBhNBmPbI5jaP0zy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture slightly at the left side of the operation area. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand approaches the green cube, fingers open and adjust to make contact with the green cube to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green cube on the black tabletop without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block to above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the purple post without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes and adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand holds the white hexagonal workpiece and moves it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal workpiece with the leftmost purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal workpiece down along the leftmost purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal workpiece."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the middle wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it fully leaves the support."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod, then releases the grip on the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by aligning and pressing it down."}, {"label": "subtasks", "start_step": 1305, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves from the wooden base area toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the target post on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block to ensure stable fitting on the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the rightmost post of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: reach: Left hand moves towards the wooden rack on the table. | Right hand: place: Right hand places the white hexagonal ring onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block with purple top upwards from the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the lower part of the black table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2572, "end_step": 2661, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block and moves fingers away from the bottle."}], "episode_index": 43}
+{"source_uid": "0f675a284b4b0b37", "num_frames": 2473, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand, empty with extended fingers, moves downward and forward toward the green hexagonal nut on the table in front of the wooden peg stand."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "d7eb489b-f692-4f14-b453-a58befb6d91e"}, {"label": "valid", "start_step": 0, "end_step": 2444, "id": "DSnoNsWR1AXHYfP-s-K_C"}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting finger positions and closing fingers to establish a grasp, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 131, "end_step": 280, "id": "ab3ee415-2eab-4489-8b93-5ffba2a341d6"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the top of the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple post until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, remaining empty and not contacting the block during movement."}, {"label": "goal", "start_step": 281, "end_step": 370, "id": "25d6c21a-d488-4d2b-aa9c-beb10f191aee"}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the target white hexagonal block on the table to establish a stable grip, with slight finger movements observed throughout the process."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without observable movement of the hand, fingers or the nut."}, {"label": "goal", "start_step": 371, "end_step": 500, "id": "bc371966-e72f-4be1-8b3f-20502b3db8cb"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand moves upward while grasping the white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden rack, positioning the nut directly above a purple cylindrical post on the rack."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, moving the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves from the position above the wooden assembly stand downward toward the white hexagonal block placed on the black table surface, staying empty and not touching the target block throughout the movement."}, {"label": "goal", "start_step": 501, "end_step": 585, "id": "d6c56edf-914a-4f95-8177-22dbca0ab154"}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, adjusting finger positions and closing fingers around the block to form a stable grasp."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "goal", "start_step": 586, "end_step": 715, "id": "3b4932a2-400e-45c9-9dbd-2e04136e17b3"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, moving it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, lowering it to fit onto the peg and rest on the green block below."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block, moving backward away from the assembled structure."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table near the wooden block stand."}, {"label": "goal", "start_step": 716, "end_step": 775, "id": "d0293856-0b34-4a3e-8aa0-918cc3582b65"}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grasp."}, {"label": "goal", "start_step": 776, "end_step": 955, "id": "7ad368af-720b-4bb3-9b97-a28a0bed7cb0"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally to position it directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers it to fit onto the post, making slight adjustments to ensure proper alignment."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: place_release: Right hand moves the light purple sleeve down along the purple peg until it rests on the white sleeve below, then opens fingers to release the sleeve."}, {"label": "goal", "start_step": 956, "end_step": 1060, "id": "323565ea-cb95-4359-a034-b9822759f8cd"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block on the black table surface, extending fingers as it approaches the target block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, gradually closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1061, "end_step": 1205, "id": "8758a808-145e-404e-a145-57369964f36c"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block stationary directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand moves the green hexagonal block downward along the purple peg, fitting the block onto the peg to align the assembly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand releases the white cylindrical component on the wooden pegboard, with fingers opening to separate from the component surface."}, {"label": "goal", "start_step": 1206, "end_step": 1315, "id": "6211c363-9d45-4a04-9c0f-7795d3461a7e"}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, with fingers closing and adjusting positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 1316, "end_step": 1645, "id": "a3196a49-4c21-4f6b-89b4-59233eae7542"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward to the position above a peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1358, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal block's orientation slightly, aligns it with the target peg on the wooden block stand, and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the wooden stand peg without any observable movement."}, {"label": "goal", "start_step": 1646, "end_step": 1745, "id": "dc1a3d19-34eb-4a56-aafc-b06158ab77b2"}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release_reach: Right hand opens fingers to release the white hexagonal block on the wooden stand, moves downward and rightward across the table toward the loose white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making slight finger adjustments to establish contact with the block."}, {"label": "goal", "start_step": 1746, "end_step": 1905, "id": "cbceeeeb-c282-4fa1-ad86-1425c6b888d0"}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, transports it upward and leftward to position the nut directly above the empty purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1904, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, adjusts the nut's orientation and presses it downward to fit the nut onto the rod as part of the block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold_release: Right hand holds the white hexagonal block on the purple post and releases its grasp from the block."}, {"label": "goal", "start_step": 1906, "end_step": 1990, "id": "74332ae6-3c3e-48b7-a822-8e6d8f525382"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a grasp."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block on the table surface near the green block without moving."}, {"label": "goal", "start_step": 1991, "end_step": 2130, "id": "3e86c404-2b24-400b-863d-e9a546a5ccf6"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the purple post on the stacked block base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and presses it downward to fit the block securely onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves from the right side of the bottle rack toward the green cube on the lower right table surface, with fingers slightly open during the movement."}, {"label": "goal", "start_step": 2131, "end_step": 2220, "id": "8bcce38f-73ee-48d0-990e-4f718ecdf33f"}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing and adjusting fingers to establish a grip on the cube."}, {"label": "goal", "start_step": 2221, "end_step": 2405, "id": "77d74a76-8aee-4c6b-ab2b-7e093aa47b15"}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and moves it upward to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2280, "end_step": 2391, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the target white bottle and fits the block securely onto the bottle."}, {"label": "subtasks", "start_step": 2392, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cubic block that is fitted on the white bottle."}, {"label": "home", "start_step": 2445, "end_step": 2472, "id": "9jHlGgKEx1-90h318-f9G"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand, empty with extended fingers, moves downward and forward toward the green hexagonal nut on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting finger positions and closing fingers to establish a grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the top of the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple post until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, remaining empty and not contacting the block during movement."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the target white hexagonal block on the table to establish a stable grip, with slight finger movements observed throughout the process."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand moves upward while grasping the white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden rack, positioning the nut directly above a purple cylindrical post on the rack."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, moving the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves from the position above the wooden assembly stand downward toward the white hexagonal block placed on the black table surface, staying empty and not touching the target block throughout the movement."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, adjusting finger positions and closing fingers around the block to form a stable grasp."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, moving it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, lowering it to fit onto the peg and rest on the green block below."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block, moving backward away from the assembled structure."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table near the wooden block stand."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally to position it directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers it to fit onto the post, making slight adjustments to ensure proper alignment."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: place_release: Right hand moves the light purple sleeve down along the purple peg until it rests on the white sleeve below, then opens fingers to release the sleeve."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block on the black table surface, extending fingers as it approaches the target block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, gradually closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block stationary directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand moves the green hexagonal block downward along the purple peg, fitting the block onto the peg to align the assembly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand releases the white cylindrical component on the wooden pegboard, with fingers opening to separate from the component surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, with fingers closing and adjusting positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward to the position above a peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1358, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal block's orientation slightly, aligns it with the target peg on the wooden block stand, and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the wooden stand peg without any observable movement."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release_reach: Right hand opens fingers to release the white hexagonal block on the wooden stand, moves downward and rightward across the table toward the loose white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making slight finger adjustments to establish contact with the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, transports it upward and leftward to position the nut directly above the empty purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1904, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, adjusts the nut's orientation and presses it downward to fit the nut onto the rod as part of the block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold_release: Right hand holds the white hexagonal block on the purple post and releases its grasp from the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a grasp."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block on the table surface near the green block without moving."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the purple post on the stacked block base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and presses it downward to fit the block securely onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves from the right side of the bottle rack toward the green cube on the lower right table surface, with fingers slightly open during the movement."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing and adjusting fingers to establish a grip on the cube."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and moves it upward to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2280, "end_step": 2391, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the target white bottle and fits the block securely onto the bottle."}, {"label": "subtasks", "start_step": 2392, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cubic block that is fitted on the white bottle."}], "episode_index": 44}
+{"source_uid": "770fc1e6629692a4", "num_frames": 2763, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers while remaining at the left side of the table, with no arm displacement. | Right hand: idle: Right hand remains empty and stationary at the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "fe06074a-4699-47a2-88d7-169e46f21792"}, {"label": "valid", "start_step": 0, "end_step": 2731, "id": "funmlR4ex81oMevrzhHuh"}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty and stationary at the right side of the table."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 136, "end_step": 485, "id": "a208e422-61e3-4ef4-a87d-f3ed5b360d2e"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it onto the peg with continuous slight downward adjustments."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white cylindrical sleeve onto the purple peg of the wooden rack and releases the grip."}, {"label": "goal", "start_step": 486, "end_step": 585, "id": "76ad6c68-95c5-40cd-aac3-7beae0ef0af2"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with continuous finger adjustments."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 586, "end_step": 750, "id": "4079b799-7241-434c-a9cf-f11c8c614946"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to above the leftmost tube of the test tube rack."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost tube of the test tube rack by fitting it down along the tube."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost tube without moving."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers to detach from the block."}, {"label": "goal", "start_step": 751, "end_step": 840, "id": "166f349f-2d22-4695-9561-f9d5267e5c63"}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal part on the dark table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 841, "end_step": 1030, "id": "f996b2c1-09c0-483f-afed-3f1ad6f9bc99"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while moving it to the position above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 885, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post of the rack and lowers it onto the post to complete the fitting assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block on the top of the rightmost purple rod of the wooden base."}, {"label": "goal", "start_step": 1031, "end_step": 1120, "id": "2386e928-3fc6-432b-86ed-f0b07f54cb44"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the left side of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the left side of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1121, "end_step": 1270, "id": "67506ee7-148d-4aed-8f05-54ea47a9b245"}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_place: Right hand aligns and inserts the white hexagonal piece onto the middle purple peg, sliding it down along the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the right purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 1271, "end_step": 1365, "id": "90928516-8224-4616-a427-1b59b8ddc020"}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers around the green hexagonal block on the black table surface to form a stable grasp."}, {"label": "goal", "start_step": 1366, "end_step": 1515, "id": "05c3fefc-1d0d-4277-877b-d1dd2f8d71e4"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the middle peg of the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg of the wooden rack and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hexagonal block nested on the middle peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1516, "end_step": 1600, "id": "0088769e-cd54-41e3-a5e0-0ac04cffcf78"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table below the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting around the part."}, {"label": "goal", "start_step": 1601, "end_step": 1845, "id": "8ee72a72-170a-4602-be5f-f3789e8da851"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1844, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base, making slight adjustments to align and insert the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical piece on the front-right green base post, with fingers opening from a closed grasp."}, {"label": "goal", "start_step": 1846, "end_step": 1955, "id": "5ce23d05-6de7-49e4-b35a-a641fc0d8a3f"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves down toward the upper white hexagonal piece on the table surface as an empty hand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table, with fingers closing around the piece to form a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1956, "end_step": 2130, "id": "edca7a9e-3a8f-43b4-b9ed-00158261ba85"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2121, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block downward along the rod until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2129, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward away from the rod assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 2131, "end_step": 2235, "id": "c12cbe37-d177-4ec8-a647-e6e54e1be5b9"}, {"label": "subtasks", "start_step": 2175, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2236, "end_step": 2455, "id": "8d994ed6-8c36-419e-a156-253c1c2d33ac"}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the wooden rack with cylindrical objects."}, {"label": "subtasks", "start_step": 2280, "end_step": 2414, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod on the rightmost column of the wooden rack and fits the ring onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal ring, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 2438, "end_step": 2444, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty next to the wooden rack without moving."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the purple top of the front-right bottle on the wooden base, with fingers opening and separating from the bottle."}, {"label": "goal", "start_step": 2456, "end_step": 2550, "id": "9492b968-b6be-4d90-91a2-0e2a356700e0"}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2564, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers closing around the cube to adjust the grip."}, {"label": "goal", "start_step": 2551, "end_step": 2690, "id": "e7ef0886-8fa1-4778-a461-8b1254fc58c7"}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it toward the white bottle assembly at the center of the table."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green cubic block with the top of the rightmost white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green cubic block fitted on the rightmost white bottle without moving."}, {"label": "home", "start_step": 2732, "end_step": 2762, "id": "c6HtIjtRs7dU2WxthyYew"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers while remaining at the left side of the table, with no arm displacement. | Right hand: idle: Right hand remains empty and stationary at the right side of the table."}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty and stationary at the right side of the table."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it onto the peg with continuous slight downward adjustments."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white cylindrical sleeve onto the purple peg of the wooden rack and releases the grip."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with continuous finger adjustments."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to above the leftmost tube of the test tube rack."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost tube of the test tube rack by fitting it down along the tube."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost tube without moving."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers to detach from the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal part on the dark table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while moving it to the position above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 885, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post of the rack and lowers it onto the post to complete the fitting assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block on the top of the rightmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the left side of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the left side of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_place: Right hand aligns and inserts the white hexagonal piece onto the middle purple peg, sliding it down along the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the right purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers around the green hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the middle peg of the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg of the wooden rack and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hexagonal block nested on the middle peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table below the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting around the part."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1844, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base, making slight adjustments to align and insert the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical piece on the front-right green base post, with fingers opening from a closed grasp."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves down toward the upper white hexagonal piece on the table surface as an empty hand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table, with fingers closing around the piece to form a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2121, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block downward along the rod until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2129, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward away from the rod assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the wooden rack with cylindrical objects."}, {"label": "subtasks", "start_step": 2280, "end_step": 2414, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod on the rightmost column of the wooden rack and fits the ring onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal ring, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 2438, "end_step": 2444, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty next to the wooden rack without moving."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the purple top of the front-right bottle on the wooden base, with fingers opening and separating from the bottle."}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2564, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers closing around the cube to adjust the grip."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it toward the white bottle assembly at the center of the table."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green cubic block with the top of the rightmost white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green cubic block fitted on the rightmost white bottle without moving."}], "episode_index": 45}
+{"source_uid": "197922157cfdd254", "num_frames": 2430, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "8271fa6f-4748-4b1b-af3f-5ef44988ae92"}, {"label": "valid", "start_step": 0, "end_step": 2399, "id": "_3AawDi6rIq_kx6Nc78g8"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, with fingers adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 156, "end_step": 285, "id": "8ff08f2c-0d77-4afe-b730-cccb507bd135"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the green block onto the purple peg of the wooden rack, adjusting its position to fit."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white capped block from the purple peg on the wooden base."}, {"label": "goal", "start_step": 286, "end_step": 445, "id": "b44ef8a6-ceab-4006-8a2e-ab18c0f70c41"}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white capped block downward towards the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white capped block onto the black table surface and releases it."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 446, "end_step": 565, "id": "393aea6b-313b-4db1-ad09-c8d6674e8760"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, adjusting position to fully fit onto the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 566, "end_step": 655, "id": "e5931a83-5269-4533-920b-a6a33544a5e6"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the table surface without touching it."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 656, "end_step": 825, "id": "2c38931a-9c51-4df5-9684-fe1169922183"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod, adjusting position to make it fit properly."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block which is now mounted on the purple rod."}, {"label": "goal", "start_step": 826, "end_step": 905, "id": "bbb64a84-4984-4e26-bfe7-349b49cb6c92"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat_reach: Right hand retreats from the wooden base and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 906, "end_step": 1070, "id": "d40da10b-3be2-4186-882a-fdbcba6ecde6"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base, adjusting to fit it onto the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1071, "end_step": 1150, "id": "c05651d8-9f1e-4328-84b9-6c90ccc84d89"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table surface."}, {"label": "goal", "start_step": 1151, "end_step": 1360, "id": "78361448-5eab-439f-82b6-39fea9e1397c"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the pole on the wooden rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the white pole on the wooden rack and inserts it onto the pole."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green block down along the pole to fix it."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the green block on the pole without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the green block onto the peg on the wooden base until it is supported stably."}, {"label": "goal", "start_step": 1361, "end_step": 1460, "id": "e29c1990-8d6a-4faa-9917-964d5c84635a"}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1461, "end_step": 1630, "id": "9edec1c8-8118-43d4-8f7b-e0ff33c5626c"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves fingers slightly away."}, {"label": "goal", "start_step": 1631, "end_step": 1730, "id": "3b3b15d9-122d-4633-ba6f-91682e477bb2"}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black table surface."}, {"label": "goal", "start_step": 1731, "end_step": 1895, "id": "bf76a364-5b15-40bb-bf6c-ae9d82dd48c8"}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block completely off the black tabletop."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block horizontally to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, then inserts it down along the rod until it rests on the lower white block on the base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press_release: Right hand presses the white block onto the purple post on the wooden base and releases the block."}, {"label": "goal", "start_step": 1896, "end_step": 2000, "id": "9764c3f6-ddb2-40e6-b63d-3df556375185"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2001, "end_step": 2145, "id": "a6db5424-a411-41a9-a72e-98b4fcb86550"}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2121, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the bottle onto the wooden tray and releases the grip on the bottle."}, {"label": "goal", "start_step": 2146, "end_step": 2230, "id": "9983674e-9348-46c6-8127-c2f753f83453"}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "goal", "start_step": 2231, "end_step": 2350, "id": "07779a13-4319-432c-b97d-b75f549437ef"}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle on the wooden rack."}, {"label": "home", "start_step": 2400, "end_step": 2429, "id": "nI41xn5IWGYue5xm3tFF1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, with fingers adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the green block onto the purple peg of the wooden rack, adjusting its position to fit."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white capped block from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white capped block downward towards the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white capped block onto the black table surface and releases it."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, adjusting position to fully fit onto the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the table surface without touching it."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod, adjusting position to make it fit properly."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block which is now mounted on the purple rod."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat_reach: Right hand retreats from the wooden base and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base, adjusting to fit it onto the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the pole on the wooden rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the white pole on the wooden rack and inserts it onto the pole."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green block down along the pole to fix it."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the green block on the pole without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the green block onto the peg on the wooden base until it is supported stably."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves fingers slightly away."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block completely off the black tabletop."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block horizontally to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, then inserts it down along the rod until it rests on the lower white block on the base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press_release: Right hand presses the white block onto the purple post on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2121, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the bottle onto the wooden tray and releases the grip on the bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle on the wooden rack."}], "episode_index": 46}
+{"source_uid": "33cfc6a0df910b6e", "num_frames": 2584, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves from its initial upper right position downward toward the green hexagonal block in front-left of the wooden peg stand, with fingers held open."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "481a9d17-9682-45bb-81b0-ba2fc5bb3fda"}, {"label": "valid", "start_step": 0, "end_step": 2558, "id": "NRi83xMKpRzHpeE5mEL42"}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the black table surface, adjusting finger positions to close around the block to form a grasp."}, {"label": "goal", "start_step": 161, "end_step": 305, "id": "cac28b69-f4ae-4dbf-85aa-68ca703a1388"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 306, "end_step": 380, "id": "b1e41b24-86d8-4e44-9c90-51364b2515fa"}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is completely off the black table surface."}, {"label": "goal", "start_step": 381, "end_step": 515, "id": "8c3dde03-6e2c-40b0-a82a-ea325bc7eeaa"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to move toward the wooden rack, positioning the nut directly above the leftmost purple post."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut, aligning the central hole of the nut with the leftmost purple post to fit the post into the hole."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal nut sleeved on the upper part of the purple post without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple post until the nut is stably supported by the green hexagonal block below."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the table surface, with fingers held open."}, {"label": "goal", "start_step": 516, "end_step": 590, "id": "cf28c00f-d471-485f-ad02-58a30da47a29"}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to form a grip."}, {"label": "goal", "start_step": 591, "end_step": 755, "id": "f9972cd9-8059-4d8b-9fa8-7f72bf241470"}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface, moving it upward to the position above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 652, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden base holding bottles and purple posts, approaching the front white hexagonal nut on the black table surface with an open empty hand, not yet contacting the target."}, {"label": "goal", "start_step": 756, "end_step": 850, "id": "d57fadbe-d917-4f51-b148-fcc1daf24b75"}, {"label": "subtasks", "start_step": 758, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden base holding bottles and purple posts, approaching the front white hexagonal nut on the black table surface with an open empty hand, not yet contacting the target."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand contacts the top of the front white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip, with observable small movements of the fingers and wrist."}, {"label": "goal", "start_step": 851, "end_step": 985, "id": "5b0a5764-6d00-4d16-82a1-aa2c2bd018c6"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg on the wooden rack, moves the nut downward to fit onto the peg, and makes small positional adjustments during the alignment process."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to place it onto the purple vertical rod on the wooden assembly base, releasing the block once it is stably supported by the base."}, {"label": "goal", "start_step": 986, "end_step": 1075, "id": "eb7b4b27-69f7-4d60-a213-b1c2f3aa4d50"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block resting on the black table surface, approaching the block without establishing grasping contact."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand fingers close around the green hexagonal block on the table, making slight finger adjustments to form stable contact with the block."}, {"label": "goal", "start_step": 1076, "end_step": 1255, "id": "3496222f-850a-4bbf-86cd-a0560346dd30"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand moves vertically upward with the gripped green hexagonal block, lifting the block completely free of the dark table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally across the workspace toward the purple pegs attached to the light wooden block base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand makes small positional and rotational adjustments to the green hexagonal block to align its central hole with the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand lowers the aligned green hexagonal block vertically down the purple peg until the block rests securely on the underlying stacked blocks, maintaining a grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted on the purple rod of the wooden assembly stand, separating fingers from the block surface."}, {"label": "goal", "start_step": 1256, "end_step": 1350, "id": "36f8bc4e-7a68-4de1-ba87-197e10e06a1a"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward empty from the assembly stand area toward the green hexagonal block placed on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers closing and making fine adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 1351, "end_step": 1480, "id": "4cc7378a-ae60-4573-b9bd-8869eb6af692"}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, and carries it upward toward the wooden peg assembly to position it directly above the purple peg."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand moves the white hexagonal block downward to align its central hole with the purple peg, fitting the block onto the top of the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand slides the white hexagonal block down along the purple peg, lowering it until it rests on the green supporting block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place_release: Right hand places the white cylindrical block with green base onto the wooden block base, releasing the grip as fingers open."}, {"label": "goal", "start_step": 1481, "end_step": 1570, "id": "731b99d5-f930-4026-aae2-bc07f8b16bd4"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves empty toward the white hexagonal block placed on the right side of the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small grip adjustments to secure contact with the block."}, {"label": "goal", "start_step": 1571, "end_step": 1820, "id": "428ae27e-bc07-462c-907c-3edfa5f5b29e"}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal piece off the table surface, moving it upward and left toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the purple vertical rod, adjusting orientation and vertical position to slide the piece down the rod into assembled position."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal piece resting on the purple rod."}, {"label": "goal", "start_step": 1821, "end_step": 1915, "id": "fc428edf-34dd-47d4-9d44-60ccec9e991e"}, {"label": "subtasks", "start_step": 1830, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: retreat: Right hand moves slightly upward and rightward away from the wooden block rack while empty, after completing interaction with blocks on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward and leftward through the air toward the white hexagonal block on the dark gray table surface, fingers held slightly spread."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers around the block, and makes slight adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal block above the right section of the black table surface without moving."}, {"label": "goal", "start_step": 1916, "end_step": 2055, "id": "f25380f3-d946-4c27-8bf5-8992ab5a2cc8"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2047, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the rack, lowering it to fit securely onto the green base inside the slot."}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the rack base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: press: Right hand presses the raised purple top of the front-right white bottle on the wooden rack downward, pushing the top flush with adjacent white bottle caps."}, {"label": "goal", "start_step": 2056, "end_step": 2145, "id": "1a350ec2-ec46-4fbb-9927-1a102621c860"}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward and rightward with open fingers toward the green cube placed on the dark table surface, without contacting the cube."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the green cube on the table to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward, raising the cube slightly off the dark table surface."}, {"label": "goal", "start_step": 2146, "end_step": 2515, "id": "c7381f36-8ec7-458a-8c0f-7e6b7e5e7d03"}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the empty slot on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand adjusts the green block's position and orientation to align its central hole with the white post below, lowers the block to fit it onto the post to complete the assembly."}, {"label": "home", "start_step": 2559, "end_step": 2583, "id": "cyx4PRAK_pUY42D00uRY7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves from its initial upper right position downward toward the green hexagonal block in front-left of the wooden peg stand, with fingers held open."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the black table surface, adjusting finger positions to close around the block to form a grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is completely off the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to move toward the wooden rack, positioning the nut directly above the leftmost purple post."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut, aligning the central hole of the nut with the leftmost purple post to fit the post into the hole."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal nut sleeved on the upper part of the purple post without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple post until the nut is stably supported by the green hexagonal block below."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface, moving it upward to the position above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 652, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden base holding bottles and purple posts, approaching the front white hexagonal nut on the black table surface with an open empty hand, not yet contacting the target."}, {"label": "subtasks", "start_step": 758, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden base holding bottles and purple posts, approaching the front white hexagonal nut on the black table surface with an open empty hand, not yet contacting the target."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand contacts the top of the front white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip, with observable small movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg on the wooden rack, moves the nut downward to fit onto the peg, and makes small positional adjustments during the alignment process."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to place it onto the purple vertical rod on the wooden assembly base, releasing the block once it is stably supported by the base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block resting on the black table surface, approaching the block without establishing grasping contact."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand fingers close around the green hexagonal block on the table, making slight finger adjustments to form stable contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand moves vertically upward with the gripped green hexagonal block, lifting the block completely free of the dark table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally across the workspace toward the purple pegs attached to the light wooden block base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand makes small positional and rotational adjustments to the green hexagonal block to align its central hole with the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand lowers the aligned green hexagonal block vertically down the purple peg until the block rests securely on the underlying stacked blocks, maintaining a grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted on the purple rod of the wooden assembly stand, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward empty from the assembly stand area toward the green hexagonal block placed on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers closing and making fine adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, and carries it upward toward the wooden peg assembly to position it directly above the purple peg."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand moves the white hexagonal block downward to align its central hole with the purple peg, fitting the block onto the top of the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand slides the white hexagonal block down along the purple peg, lowering it until it rests on the green supporting block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place_release: Right hand places the white cylindrical block with green base onto the wooden block base, releasing the grip as fingers open."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves empty toward the white hexagonal block placed on the right side of the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small grip adjustments to secure contact with the block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal piece off the table surface, moving it upward and left toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the purple vertical rod, adjusting orientation and vertical position to slide the piece down the rod into assembled position."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal piece resting on the purple rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: retreat: Right hand moves slightly upward and rightward away from the wooden block rack while empty, after completing interaction with blocks on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward and leftward through the air toward the white hexagonal block on the dark gray table surface, fingers held slightly spread."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers around the block, and makes slight adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal block above the right section of the black table surface without moving."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2047, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the rack, lowering it to fit securely onto the green base inside the slot."}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the rack base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: press: Right hand presses the raised purple top of the front-right white bottle on the wooden rack downward, pushing the top flush with adjacent white bottle caps."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward and rightward with open fingers toward the green cube placed on the dark table surface, without contacting the cube."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the green cube on the table to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward, raising the cube slightly off the dark table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the empty slot on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand adjusts the green block's position and orientation to align its central hole with the white post below, lowers the block to fit it onto the post to complete the assembly."}], "episode_index": 47}
+{"source_uid": "9a80bb76d469dc75", "num_frames": 2825, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the wooden peg board."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "e886a304-76f1-48a4-b9a9-aa16de83a12e"}, {"label": "valid", "start_step": 0, "end_step": 2794, "id": "y9BKzFnSt6wpyuZygWsO6"}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the black table surface, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 126, "end_step": 275, "id": "64ef8f54-8d1c-417e-9cec-794e3e60a61b"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it upward and rightward to the top of the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring with the leftmost peg of the wooden rack, moving downward to fit the ring onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening and moving slightly upward."}, {"label": "goal", "start_step": 276, "end_step": 350, "id": "1b7e667b-899a-41cd-840a-378ef2f4de7c"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the black table surface."}, {"label": "goal", "start_step": 351, "end_step": 515, "id": "41b8272b-64ca-475e-8da6-f5e050718b85"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut upward and toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal nut while retreating upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the rightmost purple peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 516, "end_step": 605, "id": "14d96e25-c79b-4383-a6d5-61b5861af6f5"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward to approach the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the lower left area of the black table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the lower area of the black table, with fingers adjusting to form a stable grip while the nut stays on the table."}, {"label": "goal", "start_step": 606, "end_step": 765, "id": "bc2bffd2-8a5c-4561-aef9-12605ace57a2"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward to the position above the leftmost top purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 652, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal nut with the leftmost top purple peg of the wooden rack by moving downward along the peg, and opens fingers to separate from the nut at the end of the segment."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 766, "end_step": 825, "id": "f6249ed2-f994-473e-b4f3-4d3fc8aa497c"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table and adjusts the grip."}, {"label": "goal", "start_step": 826, "end_step": 990, "id": "e430a920-b624-4252-88ea-177ad9e1dd70"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward to above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 862, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward away from the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden rack to approach the green hexagonal block on the left side of the table."}, {"label": "goal", "start_step": 991, "end_step": 1055, "id": "1e735f5d-37f1-4f6a-b1f5-41728708bd1a"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1056, "end_step": 1285, "id": "5fc60b4a-59b7-4d4b-a51f-d6751609821d"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden rack by aligning and inserting it down onto the peg with slight adjustments."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the peg of the wooden rack and releases it."}, {"label": "goal", "start_step": 1286, "end_step": 1375, "id": "20c44d02-84a8-4723-9f94-77577a9bfcab"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1376, "end_step": 1470, "id": "ceca8a54-f44b-453c-bd7d-de58aecb9316"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block from the table and transports it toward the wooden rack in the middle of the table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated hexagonal block with the green peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white perforated hexagonal block on the green peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack, with fingers opening from closed state."}, {"label": "goal", "start_step": 1471, "end_step": 1550, "id": "8ad59ca1-cc93-44df-a5e3-30516696b67c"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface with empty hand."}, {"label": "subtasks", "start_step": 1515, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1551, "end_step": 2245, "id": "942ecf79-d329-4e5e-b942-a55cbf2cf12e"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece with the purple rod on the wooden base before releasing it, causing the piece to fall onto the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal piece that fell on the right side of the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the right side of the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it to the lower left area near the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal piece onto the table surface near the lower left of the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal piece near the green block on the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece near the green block on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece fitted on the purple rod."}, {"label": "goal", "start_step": 2246, "end_step": 2325, "id": "ad254f85-3488-4435-baab-ddb23a4f67ae"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the wooden rack area."}, {"label": "subtasks", "start_step": 2288, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white square block from the black table surface."}, {"label": "goal", "start_step": 2326, "end_step": 2480, "id": "5e90bc7e-0c48-4d9c-ac99-6e8b43967d70"}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white square block upward and leftward to the position above the rightmost pillar of the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white square block with the rightmost pillar of the wooden rack by fitting the pillar into the block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white square block on the rightmost pillar of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white square block on the rightmost pillar, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:lift_plunger: Right hand lifts the purple plunger on the white cylinder at the rightmost bottom of the wooden rack."}, {"label": "goal", "start_step": 2481, "end_step": 2575, "id": "7f134104-b029-41de-b3e8-a6471fd7063e"}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2576, "end_step": 2755, "id": "150d0de8-deda-4b6d-ac2b-d1f38f77fa89"}, {"label": "subtasks", "start_step": 2595, "end_step": 2617, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the bottle set in the middle of the frame."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2759, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the rightmost white bottle without moving."}, {"label": "home", "start_step": 2795, "end_step": 2824, "id": "QsEWa_lbIRQHiz-_BQqFQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the wooden peg board."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the black table surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it upward and rightward to the top of the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring with the leftmost peg of the wooden rack, moving downward to fit the ring onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut upward and toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal nut while retreating upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the rightmost purple peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward to approach the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the lower left area of the black table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the lower area of the black table, with fingers adjusting to form a stable grip while the nut stays on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward to the position above the leftmost top purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 652, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal nut with the leftmost top purple peg of the wooden rack by moving downward along the peg, and opens fingers to separate from the nut at the end of the segment."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table and adjusts the grip."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward to above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 862, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward away from the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden rack to approach the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden rack by aligning and inserting it down onto the peg with slight adjustments."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the peg of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block from the table and transports it toward the wooden rack in the middle of the table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated hexagonal block with the green peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white perforated hexagonal block on the green peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack, with fingers opening from closed state."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface with empty hand."}, {"label": "subtasks", "start_step": 1515, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece with the purple rod on the wooden base before releasing it, causing the piece to fall onto the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal piece that fell on the right side of the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the right side of the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it to the lower left area near the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal piece onto the table surface near the lower left of the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal piece near the green block on the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece near the green block on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece fitted on the purple rod."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the wooden rack area."}, {"label": "subtasks", "start_step": 2288, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white square block from the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white square block upward and leftward to the position above the rightmost pillar of the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white square block with the rightmost pillar of the wooden rack by fitting the pillar into the block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white square block on the rightmost pillar of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white square block on the rightmost pillar, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:lift_plunger: Right hand lifts the purple plunger on the white cylinder at the rightmost bottom of the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2595, "end_step": 2617, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the bottle set in the middle of the frame."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2759, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the rightmost white bottle without moving."}], "episode_index": 48}
+{"source_uid": "b62d0530d5dd3ec8", "num_frames": 2325, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "3e375226-0eb9-4168-afd5-ab7d684902c2"}, {"label": "valid", "start_step": 0, "end_step": 2294, "id": "w-2k0TINnONiwo-FeshjJ"}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 126, "end_step": 255, "id": "25e92636-13e8-4581-9b0d-b5bd97d832b9"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod by aligning and inserting the rod through the block's hole."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reorient: Right hand rotates the wooden base with vertical posts about 90 degrees downward to lay it flat on the table."}, {"label": "goal", "start_step": 256, "end_step": 385, "id": "61167b41-e309-4c58-98c9-3b81ba1a3412"}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the black table."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white hexagonal hollow block."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 386, "end_step": 520, "id": "90514d1c-f94c-4583-bfe6-4ff1f02554f2"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the leftmost purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves downward away from the wooden assembly base to the area above the white hexagonal blocks, knocking over the assembled parts during movement."}, {"label": "goal", "start_step": 521, "end_step": 600, "id": "d142d7b5-ad85-49be-ba84-922c7e36b8a9"}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: idle: Right hand remains empty above the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 601, "end_step": 740, "id": "a0c0fa17-d50e-4948-991a-9d1c88b3eb72"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it down along the rod until it is fully seated."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple rod of the wooden base and releases the object."}, {"label": "goal", "start_step": 741, "end_step": 810, "id": "fe9347b3-292d-43d2-a253-4179ab754f65"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the table near the wooden base."}, {"label": "goal", "start_step": 811, "end_step": 950, "id": "a927c64a-13ad-425b-86ae-c884e61a8dd1"}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and moves it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the white hexagonal cylinder onto the purple post and releases its grip on the cylinder."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 951, "end_step": 1025, "id": "68985303-2257-4396-bf27-830698a2b715"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "goal", "start_step": 1026, "end_step": 1185, "id": "80142e2b-33f4-4935-bd32-be3ed3afd724"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and inserting it down along the rod."}, {"label": "goal", "start_step": 1186, "end_step": 1275, "id": "78250cea-1d9b-4a3f-8eb4-d317b66a74f6"}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1276, "end_step": 1410, "id": "123a3a64-8848-4e41-a3d8-e81867560afd"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal object with the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white hollow hexagonal object onto the target peg and releases the object."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down-right towards the white hexagonal block placed on the table next to the wooden base."}, {"label": "goal", "start_step": 1411, "end_step": 1500, "id": "0f9f8955-37cc-4946-b191-d3aa576ad6b7"}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1501, "end_step": 1775, "id": "f0956dc6-ef24-4052-8bbf-5715d31c3e2f"}, {"label": "subtasks", "start_step": 1538, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block down along the purple rod until it touches the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down firmly to secure it at the bottom of the purple rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the purple cylinder into the matching hole on the wooden base to complete assembly."}, {"label": "goal", "start_step": 1776, "end_step": 1915, "id": "11365477-ac3a-4a87-8ef7-7e3c74515bda"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1916, "end_step": 2050, "id": "764f57a7-1f62-4790-a9bd-70463a9d24bb"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden tray, fitting the ring over the rod."}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring, fingers open to separate from the ring."}, {"label": "goal", "start_step": 2051, "end_step": 2120, "id": "c2f2a7ec-4388-414e-bd51-28ac66db4d40"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 2121, "end_step": 2260, "id": "63dd86fd-b20a-411e-9ac2-ccfecf99fcac"}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and moves it towards the white post on the wooden tray."}, {"label": "subtasks", "start_step": 2160, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the green ring onto the target white post on the wooden tray and releases its grip on the ring."}, {"label": "home", "start_step": 2295, "end_step": 2324, "id": "h9LjCBDemQC-2e8WkTMmY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod by aligning and inserting the rod through the block's hole."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reorient: Right hand rotates the wooden base with vertical posts about 90 degrees downward to lay it flat on the table."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the black table."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white hexagonal hollow block."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the leftmost purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves downward away from the wooden assembly base to the area above the white hexagonal blocks, knocking over the assembled parts during movement."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: idle: Right hand remains empty above the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it down along the rod until it is fully seated."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple rod of the wooden base and releases the object."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the table near the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and moves it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the white hexagonal cylinder onto the purple post and releases its grip on the cylinder."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and inserting it down along the rod."}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal object with the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white hollow hexagonal object onto the target peg and releases the object."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down-right towards the white hexagonal block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block down along the purple rod until it touches the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down firmly to secure it at the bottom of the purple rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the purple cylinder into the matching hole on the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden tray, fitting the ring over the rod."}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring, fingers open to separate from the ring."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and moves it towards the white post on the wooden tray."}, {"label": "subtasks", "start_step": 2160, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the green ring onto the target white post on the wooden tray and releases its grip on the ring."}], "episode_index": 49}
+{"source_uid": "a17bf3a0020280bf", "num_frames": 2883, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal nut adjacent to the wooden block, with fingers extended in an open posture, not yet touching the target object."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "8bf0e139-6071-44a5-b398-dbcb08a6ce8a"}, {"label": "valid", "start_step": 0, "end_step": 2851, "id": "d-8KsYZyeVIXcNYvj4f-a"}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the black table surface, closes fingers around the object, and makes small positional adjustments of the fingers and wrist to form a secure grip."}, {"label": "goal", "start_step": 141, "end_step": 275, "id": "0d620b44-7abe-4d90-a9dc-51587a3db58f"}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it through the air to position it directly above the target purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the purple post, and fits the block onto the post."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table in front of the wooden assembly block."}, {"label": "goal", "start_step": 276, "end_step": 340, "id": "c916b6d3-fc16-42ab-8035-df27e30b6536"}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers and adjusts grip to securely hold the white hexagonal nut on the table."}, {"label": "goal", "start_step": 341, "end_step": 470, "id": "0983d277-ec35-474c-9d3f-946ab63121e5"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and leftward to position it above the target purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: press_release: Right hand presses the white cylindrical cap onto the purple peg of the wooden block stand, fingers opening to release the fully seated cap."}, {"label": "goal", "start_step": 471, "end_step": 555, "id": "c6ab5e85-0076-48cb-a9a4-38223b4bdfac"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward with an open empty hand to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a grip on the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 556, "end_step": 695, "id": "8b2f417b-2475-4fac-995e-43f613c37a6e"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object positioned on the wooden assembly base."}, {"label": "goal", "start_step": 696, "end_step": 775, "id": "b434282e-98ee-4a87-a8c9-d2c15fadbc18"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand, with fingers held open, moves downward from the assembly base toward the white hexagonal block resting on the table adjacent to the base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block which remains on the table surface."}, {"label": "goal", "start_step": 776, "end_step": 1190, "id": "d2797779-b073-4366-b6e1-cf07ce5404bd"}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and transports it upward to position directly above the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 840, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand makes small rotational and positional adjustments to the white hexagonal nut to align its central hole with the purple vertical peg, and lowers the nut slightly to engage it with the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod of the wooden stand, opens fingers to separate from the placed block."}, {"label": "goal", "start_step": 1191, "end_step": 1285, "id": "26e11512-dfcc-4b0f-b128-62a99a8b86d7"}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward with an empty hand to approach the front green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers to make contact with the front green hexagonal block, adjusting finger position to form a grasp."}, {"label": "goal", "start_step": 1286, "end_step": 1450, "id": "a3d26a37-f390-434b-8fb3-24b22a682963"}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the top of the purple rod, until the rod enters the block's hole."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple rod until the block is supported by the lower green block on the assembly base, opening its fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate_release: Right hand fits the white cylindrical block onto the corresponding purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1451, "end_step": 1525, "id": "1c5e2773-1d34-4c3d-94e8-94e313b9f707"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without any visible movement."}, {"label": "goal", "start_step": 1526, "end_step": 1645, "id": "825c1821-8994-4c70-a6bb-1742bd13e19b"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift: Right hand moves upward while holding the white hexagonal block, lifting the block completely off the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden block assembly stand in the center of the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical peg on the wooden stand, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand places the white cylindrical block onto the top right position of the block stack, opens fingers to release the block and separate from its surface."}, {"label": "goal", "start_step": 1646, "end_step": 1735, "id": "d2427a16-256e-484e-ad2e-e8ef5d61e6ab"}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal block on the table near the block stack, without touching the target block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block and closes fingers to establish a grasp around the block."}, {"label": "goal", "start_step": 1736, "end_step": 2290, "id": "d0a6495c-c3bc-4ac7-b11e-dc07dcf55810"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1792, "end_step": 2241, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusts the block vertically downward and makes small wrist and finger movements to nest the block securely onto the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers gradually to release the nested white hexagonal block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white cylindrical block with a purple ring above the purple rod on the wooden base, keeping still."}, {"label": "goal", "start_step": 2291, "end_step": 2405, "id": "71153bb4-8814-42c1-ab5b-670e8903a51b"}, {"label": "subtasks", "start_step": 2310, "end_step": 2317, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block with a purple ring, separating from the block which falls onto the wooden base."}, {"label": "subtasks", "start_step": 2318, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: return_home: Left hand moves leftward back to the home position in front of the robot, empty. | Right hand: release: Right hand opens fingers to release the white cylindrical block with a purple ring, separating from the block which falls onto the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: return_home: Left hand moves leftward back to the home position in front of the robot, empty. | Right hand: reach: Right hand moves downward-right toward the white hexagonal holed block on the black table surface, empty, approaching the target block."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: reach: Right hand moves downward-right toward the white hexagonal holed block on the black table surface, empty, approaching the target block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal holed block on the table, adjusting finger positions to form a grasp."}, {"label": "goal", "start_step": 2406, "end_step": 2575, "id": "204e9e2f-3346-48ab-be03-0b32b9269e0d"}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward off the black table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward through the air to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2557, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the white hexagonal nut to align its central hole with the purple peg, lowering the nut onto the peg to establish a secure assembled fit."}, {"label": "subtasks", "start_step": 2558, "end_step": 2564, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: idle: Right hand remains empty above the right side of the wooden block rack without obvious movement."}, {"label": "goal", "start_step": 2576, "end_step": 2655, "id": "fec0feb9-6e09-4f82-a128-21f1f8cf2537"}, {"label": "subtasks", "start_step": 2588, "end_step": 2639, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: reach: Right hand moves empty downward and rightward toward the small green cubic block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface, keeping fingers closed firmly around the block."}, {"label": "goal", "start_step": 2656, "end_step": 2810, "id": "da847420-4cf7-4524-9f43-6c696bd7a474"}, {"label": "subtasks", "start_step": 2678, "end_step": 2714, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: transport: Right hand transports the lifted green square block through the air toward the wooden block rack, positioning it directly above the target white cylindrical peg."}, {"label": "subtasks", "start_step": 2715, "end_step": 2819, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: place_release: Right hand lowers the green square block toward the target white cylindrical peg, makes small positional adjustments to align the block with the peg, sets the block stably onto the peg, fingers opening slightly to release grip on the block."}, {"label": "home", "start_step": 2852, "end_step": 2882, "id": "aYCUzabMmFdJpajYnd4_p"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal nut adjacent to the wooden block, with fingers extended in an open posture, not yet touching the target object."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the black table surface, closes fingers around the object, and makes small positional adjustments of the fingers and wrist to form a secure grip."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it through the air to position it directly above the target purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the purple post, and fits the block onto the post."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table in front of the wooden assembly block."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers and adjusts grip to securely hold the white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and leftward to position it above the target purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: press_release: Right hand presses the white cylindrical cap onto the purple peg of the wooden block stand, fingers opening to release the fully seated cap."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward with an open empty hand to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a grip on the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object positioned on the wooden assembly base."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand, with fingers held open, moves downward from the assembly base toward the white hexagonal block resting on the table adjacent to the base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and transports it upward to position directly above the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 840, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand makes small rotational and positional adjustments to the white hexagonal nut to align its central hole with the purple vertical peg, and lowers the nut slightly to engage it with the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod of the wooden stand, opens fingers to separate from the placed block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward with an empty hand to approach the front green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers to make contact with the front green hexagonal block, adjusting finger position to form a grasp."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the top of the purple rod, until the rod enters the block's hole."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple rod until the block is supported by the lower green block on the assembly base, opening its fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate_release: Right hand fits the white cylindrical block onto the corresponding purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without any visible movement."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift: Right hand moves upward while holding the white hexagonal block, lifting the block completely off the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden block assembly stand in the center of the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical peg on the wooden stand, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand places the white cylindrical block onto the top right position of the block stack, opens fingers to release the block and separate from its surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal block on the table near the block stack, without touching the target block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block and closes fingers to establish a grasp around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1792, "end_step": 2241, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusts the block vertically downward and makes small wrist and finger movements to nest the block securely onto the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers gradually to release the nested white hexagonal block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white cylindrical block with a purple ring above the purple rod on the wooden base, keeping still."}, {"label": "subtasks", "start_step": 2310, "end_step": 2317, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block with a purple ring, separating from the block which falls onto the wooden base."}, {"label": "subtasks", "start_step": 2318, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: return_home: Left hand moves leftward back to the home position in front of the robot, empty. | Right hand: release: Right hand opens fingers to release the white cylindrical block with a purple ring, separating from the block which falls onto the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: return_home: Left hand moves leftward back to the home position in front of the robot, empty. | Right hand: reach: Right hand moves downward-right toward the white hexagonal holed block on the black table surface, empty, approaching the target block."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: reach: Right hand moves downward-right toward the white hexagonal holed block on the black table surface, empty, approaching the target block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal holed block on the table, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward off the black table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward through the air to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2557, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the white hexagonal nut to align its central hole with the purple peg, lowering the nut onto the peg to establish a secure assembled fit."}, {"label": "subtasks", "start_step": 2558, "end_step": 2564, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: idle: Right hand remains empty above the right side of the wooden block rack without obvious movement."}, {"label": "subtasks", "start_step": 2588, "end_step": 2639, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: reach: Right hand moves empty downward and rightward toward the small green cubic block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface, keeping fingers closed firmly around the block."}, {"label": "subtasks", "start_step": 2678, "end_step": 2714, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: transport: Right hand transports the lifted green square block through the air toward the wooden block rack, positioning it directly above the target white cylindrical peg."}, {"label": "subtasks", "start_step": 2715, "end_step": 2819, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: place_release: Right hand lowers the green square block toward the target white cylindrical peg, makes small positional adjustments to align the block with the peg, sets the block stably onto the peg, fingers opening slightly to release grip on the block."}], "episode_index": 50}
+{"source_uid": "7172afecf5f23189", "num_frames": 2797, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table without touching any object. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture at the right side of the table without touching any object."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "7b54bd2b-c5a5-436d-8703-2a02be53163c"}, {"label": "valid", "start_step": 0, "end_step": 2769, "id": "_6fmuEjYBare2-n1zSwAj"}, {"label": "subtasks", "start_step": 38, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table without touching any object. | Right hand: reach: Right hand moves left towards the green hexagonal part on the table near the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves left towards the green hexagonal part on the table near the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal part on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal part up from the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the green hexagonal part upward and toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal part with the leftmost purple peg on the wooden base to assemble it."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 141, "end_step": 285, "id": "52ba6c08-a886-46ed-b345-2d32f500ac3b"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden pegboard, aligning the block's hole with the peg and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the leftmost peg until the block reaches the base of the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 286, "end_step": 360, "id": "4bf0375b-d2ac-4f4e-a73c-a0cc41556096"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward and leftward."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black workbench surface."}, {"label": "goal", "start_step": 361, "end_step": 495, "id": "d5e3b68f-7f3e-4924-8ec6-3ebd628f9045"}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut upward and leftward to the top of the leftmost purple peg on the green pegboard."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "goal", "start_step": 496, "end_step": 570, "id": "6eaf14a7-c37d-4f6f-a41f-b040295a7b58"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the leftmost peg while moving downward toward the white hexagonal block on the front area of the black table."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left area of the black table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the black table surface."}, {"label": "goal", "start_step": 571, "end_step": 685, "id": "3ad774bc-77cd-4c70-badf-d36c60145f37"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the white hexagonal piece through the air towards the leftmost top purple peg of the wooden stand."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the white hexagonal piece onto the leftmost top purple peg of the wooden stand until it is supported."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost top purple peg of the wooden stand without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the left purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 686, "end_step": 750, "id": "ae01401f-12ac-44c7-8efc-dc85fd319d75"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the black table near the wooden base, approaching the block without contact."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 751, "end_step": 890, "id": "655ede4d-936f-4d8e-b2a0-93392729e631"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table surface and transports it to the position above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg, moving the ring downward along the peg until it reaches the green base below."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white ring on the purple peg of the wooden rack without moving."}, {"label": "goal", "start_step": 891, "end_step": 965, "id": "3acfe99e-7460-4c36-96cd-84fe26cb3f3f"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the purple peg and moves downward toward the green hex block on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hex block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 966, "end_step": 1125, "id": "528c6406-1865-4eba-9522-85b8f94cb832"}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden rack peg without moving."}, {"label": "goal", "start_step": 1126, "end_step": 1195, "id": "74eb8413-a33a-4016-8ed4-3d385b3a214c"}, {"label": "subtasks", "start_step": 1140, "end_step": 1147, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hollow piece on the right peg of the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1196, "end_step": 1325, "id": "eb77a477-627b-4b34-9955-fa4ed911ac88"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1297, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle peg of the wooden base and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost column of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1326, "end_step": 1395, "id": "25eef2ca-6d62-4fa2-b3b3-eb8a195bb584"}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1396, "end_step": 1560, "id": "fbccf70b-c26c-4de1-82f8-32b8c17421ea"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white block with a purple rod on the right side of the wooden rack, with fingers opening slightly."}, {"label": "goal", "start_step": 1561, "end_step": 1635, "id": "46da558b-5766-4ebe-83fd-3373cc78e4b6"}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping empty."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing gradually to adjust the grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal holed part from the lower right area of the table toward the central pegboard."}, {"label": "goal", "start_step": 1636, "end_step": 2225, "id": "ce981407-e4ad-4975-b685-a83a8e192bcf"}, {"label": "subtasks", "start_step": 1688, "end_step": 1747, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal holed part onto the middle peg of the rightmost column of the pegboard."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the middle peg of the rightmost column without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the middle peg of the rightmost column."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part downward to the area above the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the bottom purple peg of the rightmost column, making fine position adjustments."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward to reposition above the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 2048, "end_step": 2219, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal part fully onto the bottom purple peg of the rightmost column and releases its grip from the part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the purple component on the top of the rightmost white bottle of the wooden base."}, {"label": "goal", "start_step": 2226, "end_step": 2290, "id": "30481ebf-22e8-47d3-8538-6505cfe21474"}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down-right towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green square block with fingers closing around it."}, {"label": "goal", "start_step": 2291, "end_step": 2730, "id": "976c3e78-9e23-4323-8d04-5ff1e716965d"}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it upward-left to the top of the rightmost white bottle with purple component."}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple component and fits it onto the rightmost white bottle."}, {"label": "subtasks", "start_step": 2445, "end_step": 2729, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green square block on the rightmost white bottle without moving."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}, {"label": "home", "start_step": 2770, "end_step": 2796, "id": "K9eWgW71En5lgJ47Z_qV6"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table without touching any object. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture at the right side of the table without touching any object."}, {"label": "subtasks", "start_step": 38, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table without touching any object. | Right hand: reach: Right hand moves left towards the green hexagonal part on the table near the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves left towards the green hexagonal part on the table near the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal part on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal part up from the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the green hexagonal part upward and toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal part with the leftmost purple peg on the wooden base to assemble it."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden pegboard, aligning the block's hole with the peg and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the leftmost peg until the block reaches the base of the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward and leftward."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black workbench surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut upward and leftward to the top of the leftmost purple peg on the green pegboard."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the leftmost peg while moving downward toward the white hexagonal block on the front area of the black table."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left area of the black table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the white hexagonal piece through the air towards the leftmost top purple peg of the wooden stand."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the white hexagonal piece onto the leftmost top purple peg of the wooden stand until it is supported."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost top purple peg of the wooden stand without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the left purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the black table near the wooden base, approaching the block without contact."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table surface and transports it to the position above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg, moving the ring downward along the peg until it reaches the green base below."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white ring on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the purple peg and moves downward toward the green hex block on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hex block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden rack peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1147, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hollow piece on the right peg of the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1297, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle peg of the wooden base and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost column of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white block with a purple rod on the right side of the wooden rack, with fingers opening slightly."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping empty."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing gradually to adjust the grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal holed part from the lower right area of the table toward the central pegboard."}, {"label": "subtasks", "start_step": 1688, "end_step": 1747, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal holed part onto the middle peg of the rightmost column of the pegboard."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the middle peg of the rightmost column without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the middle peg of the rightmost column."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part downward to the area above the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the bottom purple peg of the rightmost column, making fine position adjustments."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward to reposition above the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 2048, "end_step": 2219, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal part fully onto the bottom purple peg of the rightmost column and releases its grip from the part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the purple component on the top of the rightmost white bottle of the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down-right towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green square block with fingers closing around it."}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it upward-left to the top of the rightmost white bottle with purple component."}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple component and fits it onto the rightmost white bottle."}, {"label": "subtasks", "start_step": 2445, "end_step": 2729, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green square block on the rightmost white bottle without moving."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}], "episode_index": 51}
+{"source_uid": "9586da240844950d", "num_frames": 2123, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its pose with slight wrist and finger movement, without touching any operating object. | Right hand: reach: Right hand moves towards the green block placed on the table near the wooden base with purple rods."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "04a46165-dabe-42ad-b5e3-61421886cf53"}, {"label": "valid", "start_step": 0, "end_step": 2093, "id": "fnkmY3mDtIdXody5spsXf"}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block placed on the table near the wooden base with purple rods."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the green block, fingers adjust to form a grip on the green block."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 136, "end_step": 270, "id": "46b0eb02-eb9e-4831-8dd6-bb2bc2fd3032"}, {"label": "subtasks", "start_step": 172, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod by aligning and pressing it down to fit the rod."}, {"label": "goal", "start_step": 271, "end_step": 345, "id": "dc83ffce-c0e0-42ad-abfa-fea0f476a5ad"}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black tabletop with fingers open."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black tabletop."}, {"label": "goal", "start_step": 346, "end_step": 465, "id": "eb36aa6c-f4fe-4e3b-b002-4d55279c8dd8"}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the leftmost purple rod until it is supported by the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block."}, {"label": "goal", "start_step": 466, "end_step": 555, "id": "ea9b227a-18fc-4c3a-b3d3-7984332998eb"}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, with slight grip adjustment movements."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 556, "end_step": 680, "id": "495b306c-f96f-4a51-b3d8-5ab85554cf37"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the top-left test tube on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top-left test tube of the wooden rack by fitting it over the tube."}, {"label": "goal", "start_step": 681, "end_step": 755, "id": "893c660d-aaf7-4fc3-8c8d-a02682716862"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 756, "end_step": 895, "id": "2d4ec32f-b66b-4c8e-a7da-ad90a246d275"}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 896, "end_step": 990, "id": "8fd7ec69-c9ea-47a4-b326-2e83e8495c28"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical sleeve onto the post on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes fingers to grasp the green block and lifts it upward away from the table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, fingers close to secure the block."}, {"label": "goal", "start_step": 991, "end_step": 1135, "id": "440da509-cfef-4b79-b9c0-f81eb6ca7a5e"}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white cylinder on the wooden rack and mates it onto the cylinder."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1136, "end_step": 1200, "id": "3bd2ecf6-36f0-4575-8a11-559459b12b7f"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1201, "end_step": 1340, "id": "b8ef1106-a3c3-4bb8-98ca-a1549abd1c14"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1238, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the wooden base."}, {"label": "goal", "start_step": 1341, "end_step": 1395, "id": "e32ef2e4-54b4-41af-b17d-6659bc540ecc"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1396, "end_step": 1565, "id": "ddd581e5-0e45-4b89-84bb-1efd9252945e"}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the target column on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the target column on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the target column without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the target column."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1566, "end_step": 1630, "id": "23b590be-eea9-4809-b6a9-8000a6ebc686"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1631, "end_step": 1840, "id": "bdc343cb-1add-444b-ad1a-cf9440c6dffa"}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal block down onto the purple rod, then releases the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the empty slot of the wooden tray."}, {"label": "goal", "start_step": 1841, "end_step": 1910, "id": "1d5095f3-148a-4ceb-83d0-8455fe37f1d7"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block on the lower right area of the tabletop."}, {"label": "subtasks", "start_step": 1898, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1911, "end_step": 2050, "id": "dea62d3b-8124-43d0-a9db-4940a0d3e2f8"}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white bottle rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target white bottle with purple top on the rack."}, {"label": "home", "start_step": 2094, "end_step": 2122, "id": "FLS1zsT7MdnfjLY5ZX3lF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its pose with slight wrist and finger movement, without touching any operating object. | Right hand: reach: Right hand moves towards the green block placed on the table near the wooden base with purple rods."}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block placed on the table near the wooden base with purple rods."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the green block, fingers adjust to form a grip on the green block."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod by aligning and pressing it down to fit the rod."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black tabletop with fingers open."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the leftmost purple rod until it is supported by the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, with slight grip adjustment movements."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the top-left test tube on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top-left test tube of the wooden rack by fitting it over the tube."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical sleeve onto the post on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes fingers to grasp the green block and lifts it upward away from the table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, fingers close to secure the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white cylinder on the wooden rack and mates it onto the cylinder."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1238, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the target column on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the target column on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the target column without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the target column."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal block down onto the purple rod, then releases the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the empty slot of the wooden tray."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block on the lower right area of the tabletop."}, {"label": "subtasks", "start_step": 1898, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white bottle rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target white bottle with purple top on the rack."}], "episode_index": 52}
+{"source_uid": "b36a30e7f1728b45", "num_frames": 2803, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "f7b8f210-7b84-44e9-8168-81dbf8e4b95f"}, {"label": "valid", "start_step": 0, "end_step": 2770, "id": "xSeNzW23gcD8Lfra9yjw6"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand positions adjacent to the left green hexagonal block, fingers closing to contact the block and adjusting grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 146, "end_step": 290, "id": "889fe7f0-f013-4cbd-a611-fbb447f287eb"}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above a purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit it securely onto the post for assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand maintains a partially open finger posture as it moves downward from the area next to the wooden peg assembly toward the white hexagonal nut on the black table surface, and does not touch the nut during this movement."}, {"label": "goal", "start_step": 291, "end_step": 360, "id": "a0dd723d-aa87-4001-a913-86eac6c72ff5"}, {"label": "subtasks", "start_step": 322, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the black table surface, making small positional adjustments to its fingers to form a grip, while the nut stays in contact with the table surface."}, {"label": "goal", "start_step": 361, "end_step": 645, "id": "56d6dfc6-4992-41bd-b28d-105378bec9cc"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple assembly post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple assembly post, making small positional adjustments while lowering the nut to fit it onto the post until it is fully seated."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the fully seated white hexagonal nut on the purple assembly post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand places the white hexagonal component onto the purple peg on the wooden assembly base and releases the component."}, {"label": "goal", "start_step": 646, "end_step": 720, "id": "db4421f1-f63b-408b-8351-59203408b000"}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around the target white hexagonal nut on the table to establish a grasp."}, {"label": "goal", "start_step": 721, "end_step": 925, "id": "dd3b0c25-0d39-4156-9e35-5149e842e095"}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table while moving it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 914, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligning its central hole with the purple rod for assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: press: Right hand presses the white hexagonal cap on the purple post of the wooden base downward along the vertical axis of the post until the cap sits flush with adjacent caps."}, {"label": "goal", "start_step": 926, "end_step": 1020, "id": "ce14f348-3ba7-45b2-93fc-1e62cb188390"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and forward away from the wooden base, approaching the white hexagonal block resting on the table surface without making contact."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the table, closing fingers to make contact and adjust grip on the block, which remains supported by the table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1200, "id": "02370cb7-f5ca-4368-bb28-582c41cfb957"}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to a position above the target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate_place: Right hand fits the white hexagonal nut onto the top of the purple rod and slides it downward along the rod until it rests stably on the lower white nut at the target assembly position."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block assembly toward the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1201, "end_step": 1270, "id": "62ef75c9-4fb3-4899-b6d6-2e68aa21e002"}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains supported by the table."}, {"label": "goal", "start_step": 1271, "end_step": 1395, "id": "1d8d7dba-f3a5-49d1-96a2-76b3ea6e05b1"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, then lowers the block to fit it onto the rod until it rests stably on the white block beneath."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the fitted green hexagonal block without movement, as the block remains stably positioned on the purple rod and supported by the white block below."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black table surface in front of the wooden block base."}, {"label": "goal", "start_step": 1396, "end_step": 1450, "id": "93ab630d-df6b-484d-b3ec-758273df82b6"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact positions to form a stable grasp on the nut."}, {"label": "goal", "start_step": 1451, "end_step": 2020, "id": "aebc5183-9dc1-4efe-85b3-9aca9c45d51f"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple vertical rod, lowering it slightly toward the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple vertical rod without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1778, "end_step": 2009, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand readjusts the position and orientation of the white hexagonal nut to align with the purple vertical rod, continuing to position the nut over the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward toward the nearest white hexagonal nut on the table surface, staying empty before making contact with the nut."}, {"label": "goal", "start_step": 2021, "end_step": 2115, "id": "04900912-5172-4b72-8b14-9928021d8128"}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, gradually closing fingers and adjusting contact positions to form a grip, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand firmly grips the white hexagonal nut with a central hole and moves it upward and left toward the purple slender rod leaning against the right side of the stacked hexagonal block assembly on the wooden base."}, {"label": "goal", "start_step": 2116, "end_step": 2270, "id": "8417d482-3300-4b3e-b89c-c19f917c29e4"}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the held white hexagonal nut to align its central hole with the upper end of the purple slender rod, fitting the rod into the nut's hole."}, {"label": "subtasks", "start_step": 2175, "end_step": 2264, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod, guiding the rod to a vertical position and inserting the lower end of the rod into the empty hole on the front of the wooden base, until the nut rests stably on the vertical rod above the base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal nut on the purple vertical rod, breaking contact between the hand and the nut."}, {"label": "goal", "start_step": 2271, "end_step": 2345, "id": "c7ee55f4-de6a-4c59-80da-301a21e43da0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2310, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: retreat: Left hand moves slightly upward away from the wooden block holder, with fingers remaining extended. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: hold: Right hand holds the white hexagonal block steadily on the black table surface without observable movement."}, {"label": "goal", "start_step": 2346, "end_step": 2505, "id": "88a118f6-1358-47f6-a80d-49c4f7786570"}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward and leftward to the position above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2489, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: place: Right hand lowers the aligned white hexagonal block down along the purple peg until the block rests stably on the wooden rack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that rests on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: retreat: Right hand moves rightward away from the placed white hexagonal block with an empty hand."}, {"label": "goal", "start_step": 2506, "end_step": 2565, "id": "9f41f8a3-df23-4fee-a172-7b2dac2424ba"}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: reach: Right hand moves empty from the area adjacent to the bottle rack downward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grip, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 2566, "end_step": 2725, "id": "28efd8a1-fdf2-4adc-bbdf-2b657a3d9c7a"}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table surface, transports the cube upward and leftward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2625, "end_step": 2714, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: mate: Right hand aligns the green cube with the top of the rightmost white bottle, adjusts its position to nest the cube onto the bottle top for assembly."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: release: Right hand opens its fingers to release the green cube, separating from the cube that stays stably on the bottle top."}, {"label": "home", "start_step": 2771, "end_step": 2802, "id": "Qvnqdn1-yJyZGQcA1fDox"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand positions adjacent to the left green hexagonal block, fingers closing to contact the block and adjusting grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above a purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit it securely onto the post for assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand maintains a partially open finger posture as it moves downward from the area next to the wooden peg assembly toward the white hexagonal nut on the black table surface, and does not touch the nut during this movement."}, {"label": "subtasks", "start_step": 322, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the black table surface, making small positional adjustments to its fingers to form a grip, while the nut stays in contact with the table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple assembly post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple assembly post, making small positional adjustments while lowering the nut to fit it onto the post until it is fully seated."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the fully seated white hexagonal nut on the purple assembly post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand places the white hexagonal component onto the purple peg on the wooden assembly base and releases the component."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around the target white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table while moving it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 914, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligning its central hole with the purple rod for assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: press: Right hand presses the white hexagonal cap on the purple post of the wooden base downward along the vertical axis of the post until the cap sits flush with adjacent caps."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and forward away from the wooden base, approaching the white hexagonal block resting on the table surface without making contact."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the table, closing fingers to make contact and adjust grip on the block, which remains supported by the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to a position above the target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate_place: Right hand fits the white hexagonal nut onto the top of the purple rod and slides it downward along the rod until it rests stably on the lower white nut at the target assembly position."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block assembly toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, then lowers the block to fit it onto the rod until it rests stably on the white block beneath."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the fitted green hexagonal block without movement, as the block remains stably positioned on the purple rod and supported by the white block below."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black table surface in front of the wooden block base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact positions to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple vertical rod, lowering it slightly toward the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple vertical rod without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1778, "end_step": 2009, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand readjusts the position and orientation of the white hexagonal nut to align with the purple vertical rod, continuing to position the nut over the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward toward the nearest white hexagonal nut on the table surface, staying empty before making contact with the nut."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, gradually closing fingers and adjusting contact positions to form a grip, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand firmly grips the white hexagonal nut with a central hole and moves it upward and left toward the purple slender rod leaning against the right side of the stacked hexagonal block assembly on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the held white hexagonal nut to align its central hole with the upper end of the purple slender rod, fitting the rod into the nut's hole."}, {"label": "subtasks", "start_step": 2175, "end_step": 2264, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod, guiding the rod to a vertical position and inserting the lower end of the rod into the empty hole on the front of the wooden base, until the nut rests stably on the vertical rod above the base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal nut on the purple vertical rod, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2310, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: retreat: Left hand moves slightly upward away from the wooden block holder, with fingers remaining extended. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: hold: Right hand holds the white hexagonal block steadily on the black table surface without observable movement."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward and leftward to the position above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2489, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: place: Right hand lowers the aligned white hexagonal block down along the purple peg until the block rests stably on the wooden rack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that rests on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: retreat: Right hand moves rightward away from the placed white hexagonal block with an empty hand."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: reach: Right hand moves empty from the area adjacent to the bottle rack downward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grip, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table surface, transports the cube upward and leftward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2625, "end_step": 2714, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: mate: Right hand aligns the green cube with the top of the rightmost white bottle, adjusts its position to nest the cube onto the bottle top for assembly."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: release: Right hand opens its fingers to release the green cube, separating from the cube that stays stably on the bottle top."}], "episode_index": 53}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1c593d920adc8a535ee6af61f0f716cf33718794
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,54 @@
+{"source_uid": "89abe42bab9fb545", "num_frames": 2804, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right initial upper position without moving."}, {"label": "goal", "start_step": 0, "end_step": 177, "id": "90958719-60a4-48cd-b153-8836877f9e29"}, {"label": "valid", "start_step": 0, "end_step": 2776, "id": "tJeGD8Gk9uZKm8dD5kANA"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden block base, with an open hand approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers close around the nut with slight adjustments to form a grip."}, {"label": "goal", "start_step": 178, "end_step": 322, "id": "2dde4a5d-68d4-49e0-b00e-52c31605fea5"}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to separate it completely from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand moves the lifted green hexagonal block to position it directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers it slightly to nest the block onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand moves the nested green hexagonal block further down the purple peg until it rests stably on the underlying stacked blocks."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly stand toward the front-left white hexagonal block on the table, without contacting the target block."}, {"label": "goal", "start_step": 323, "end_step": 417, "id": "362a945e-c1f7-4b0b-b85d-caceeab786f5"}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the front-left white hexagonal block on the table to establish a grip on the block."}, {"label": "goal", "start_step": 418, "end_step": 602, "id": "e795688d-747d-42dd-acb3-4914277ab180"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 465, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts the block's orientation and position, and lowers it to nest onto the peg over the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white cylindrical block seated on the leftmost purple peg of the wooden assembly rack, opening fingers to separate from the block."}, {"label": "goal", "start_step": 603, "end_step": 742, "id": "fa4694c1-7964-45bc-8c1b-5c570bfeb5cb"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the front-left white hexagonal nut resting on the black table surface, holding fingers slightly open during the approach."}, {"label": "subtasks", "start_step": 652, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal nut, adjusting finger positions and closing fingers around the nut to form a grip."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 743, "end_step": 957, "id": "d8ff0400-cd38-4f9c-903e-db69323b8a0d"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the top of the rod, establishing the assembly alignment."}, {"label": "subtasks", "start_step": 832, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod and lowers it until it rests on the green support block at the base of the rod, supported by the block."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 958, "end_step": 1057, "id": "0a2e1d65-8494-4f51-96ef-3ddfd53dd858"}, {"label": "subtasks", "start_step": 990, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grip on the target white hexagonal nut on the table."}, {"label": "goal", "start_step": 1058, "end_step": 1322, "id": "cfcf39bd-c6c2-44af-b5c9-fe52d262b8de"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it upward to position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses downward on the top of the front white cylindrical peg on the wooden pegboard, pushing the peg down until it sits flush with adjacent pegs."}, {"label": "goal", "start_step": 1323, "end_step": 1432, "id": "3d71d22b-e7d9-482f-b74b-f61abd03e2d6"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the left green hexagonal block on the black table surface, with fingers slightly open as it approaches the target block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions around the left green hexagonal block on the table, gradually closing fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 1433, "end_step": 1572, "id": "b4ef356d-ed65-4d2e-aac2-01797756a3ad"}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1573, "end_step": 1682, "id": "3bbb2b70-367b-42c6-a320-586eb63b4b71"}, {"label": "subtasks", "start_step": 1598, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a grasp on the green hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward from the lower right area of the table to above the purple rod on the wooden assembly."}, {"label": "goal", "start_step": 1683, "end_step": 1847, "id": "55d5e03d-dcc7-4106-88ed-ad1c77700098"}, {"label": "subtasks", "start_step": 1710, "end_step": 1837, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly and moves the nut downward to nest onto the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut nested on the purple rod."}, {"label": "goal", "start_step": 1848, "end_step": 1952, "id": "88df7d0d-4dea-43d4-9224-9229d523ac36"}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves toward the white hexagonal nut adjacent to the wooden base on the table with an open hand, without contacting the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut adjacent to the wooden base to form a grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is completely lifted off the table."}, {"label": "goal", "start_step": 1953, "end_step": 2187, "id": "6f790e4c-174b-4360-8b6c-9f8917d511de"}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and toward the wooden block to position it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple vertical rod, until the rod inserts into the nut to form an assembly connection."}, {"label": "subtasks", "start_step": 2062, "end_step": 2167, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod until the nut rests stably on the existing white nut below on the wooden block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the light purple cylinder, moves it downward to insert into the corresponding hole on the wooden block rack, opens fingers to release the seated cylinder."}, {"label": "goal", "start_step": 2188, "end_step": 2277, "id": "deda3516-d1a2-456a-98d3-e3d3ebc0878d"}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, closing fingers to adjust contact points and establish a grasp."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table and lifts it upward until the block is fully separated from the table surface."}, {"label": "goal", "start_step": 2278, "end_step": 2442, "id": "8a6ba668-93ef-428f-9b8f-a7a25a9ecf1e"}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward, moving it to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod on the wooden rack, positioning it to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the white bottle with a purple cap, positions it into the empty slot on the wooden holder, fingers open to release the bottle."}, {"label": "goal", "start_step": 2443, "end_step": 2542, "id": "ec2e2dd7-5b17-4541-8014-2601ca98b0b5"}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward toward the green square block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand fingers close around the green square block on the table, making slight positional adjustments to form a grip."}, {"label": "goal", "start_step": 2543, "end_step": 2722, "id": "99c1ab6a-ebc5-45fa-922b-9c40399b0cd3"}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped green square block completely off the dark table surface, transporting it upward and toward the wooden rack to position it directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 2588, "end_step": 2699, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand slightly rotates its wrist to align the central hole of the green square block with the top of the purple-topped bottle on the wooden rack, lowering the block to fit it securely onto the bottle top to complete the assembly."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the assembled green square block on top of the purple-topped bottle without any visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 2722, "end_step": 2729, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the green square block seated securely on top of the purple-topped bottle."}, {"label": "home", "start_step": 2777, "end_step": 2803, "id": "xdexDvTgYCsKtL5I-HumX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right initial upper position without moving."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden block base, with an open hand approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers close around the nut with slight adjustments to form a grip."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to separate it completely from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand moves the lifted green hexagonal block to position it directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers it slightly to nest the block onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand moves the nested green hexagonal block further down the purple peg until it rests stably on the underlying stacked blocks."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly stand toward the front-left white hexagonal block on the table, without contacting the target block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the front-left white hexagonal block on the table to establish a grip on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 465, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts the block's orientation and position, and lowers it to nest onto the peg over the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white cylindrical block seated on the leftmost purple peg of the wooden assembly rack, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the front-left white hexagonal nut resting on the black table surface, holding fingers slightly open during the approach."}, {"label": "subtasks", "start_step": 652, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal nut, adjusting finger positions and closing fingers around the nut to form a grip."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the top of the rod, establishing the assembly alignment."}, {"label": "subtasks", "start_step": 832, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod and lowers it until it rests on the green support block at the base of the rod, supported by the block."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grip on the target white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it upward to position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses downward on the top of the front white cylindrical peg on the wooden pegboard, pushing the peg down until it sits flush with adjacent pegs."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the left green hexagonal block on the black table surface, with fingers slightly open as it approaches the target block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions around the left green hexagonal block on the table, gradually closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a grasp on the green hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward from the lower right area of the table to above the purple rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1837, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly and moves the nut downward to nest onto the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut nested on the purple rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves toward the white hexagonal nut adjacent to the wooden base on the table with an open hand, without contacting the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut adjacent to the wooden base to form a grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is completely lifted off the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and toward the wooden block to position it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple vertical rod, until the rod inserts into the nut to form an assembly connection."}, {"label": "subtasks", "start_step": 2062, "end_step": 2167, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod until the nut rests stably on the existing white nut below on the wooden block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the light purple cylinder, moves it downward to insert into the corresponding hole on the wooden block rack, opens fingers to release the seated cylinder."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, closing fingers to adjust contact points and establish a grasp."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward, moving it to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod on the wooden rack, positioning it to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the white bottle with a purple cap, positions it into the empty slot on the wooden holder, fingers open to release the bottle."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward toward the green square block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand fingers close around the green square block on the table, making slight positional adjustments to form a grip."}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped green square block completely off the dark table surface, transporting it upward and toward the wooden rack to position it directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 2588, "end_step": 2699, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand slightly rotates its wrist to align the central hole of the green square block with the top of the purple-topped bottle on the wooden rack, lowering the block to fit it securely onto the bottle top to complete the assembly."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the assembled green square block on top of the purple-topped bottle without any visible movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 2722, "end_step": 2729, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the green square block seated securely on top of the purple-topped bottle."}], "episode_index": 0}
+{"source_uid": "87862c92f1bf7d85", "num_frames": 2542, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward from the right side towards the green hexagonal block in front of the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "9210aa7c-adbf-4dbf-92ad-f335aafb1699"}, {"label": "valid", "start_step": 0, "end_step": 2511, "id": "QbzfP3CdZGLk0-blUrpJE"}, {"label": "subtasks", "start_step": 90, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 201, "end_step": 345, "id": "10755c2f-6d9e-4f25-8334-6028e769dc1a"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the backmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the backmost purple rod by inserting the rod into the hole of the green block."}, {"label": "goal", "start_step": 346, "end_step": 480, "id": "a51f5583-f44a-4c73-b616-bbdeee4382dc"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the top of the target post on the rack."}, {"label": "goal", "start_step": 481, "end_step": 660, "id": "ebfc547e-53a5-47b9-9bca-6ed4ef06bc5a"}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the target post and presses it down to fit onto the post."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal object and slightly moves upward."}, {"label": "goal", "start_step": 661, "end_step": 755, "id": "0d464850-438c-4e56-864e-7dad79893084"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal part on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal part on the black tabletop to establish grip."}, {"label": "goal", "start_step": 756, "end_step": 920, "id": "fac145b4-286a-4617-b205-7d03f6cc5970"}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 818, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the leftmost purple post on the wooden rack, adjusting to fit it firmly in place."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the leftmost pillar of the wooden base."}, {"label": "goal", "start_step": 921, "end_step": 1020, "id": "2575b858-30cd-42bb-8004-362d2bbb5834"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple vertical post on the wooden base."}, {"label": "goal", "start_step": 1021, "end_step": 1165, "id": "486ac7fe-830b-4632-991a-e898397d94f0"}, {"label": "subtasks", "start_step": 1050, "end_step": 1101, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1102, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to fix it in place."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and separates from the block."}, {"label": "goal", "start_step": 1166, "end_step": 1260, "id": "d3a26164-f148-49d9-89d0-46452ebffba3"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 1261, "end_step": 1415, "id": "acdc865c-2c75-4d16-b5a4-3ce0c94dadc1"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the target column on the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target column and inserts it downwards onto the column."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the corresponding post of the wooden base."}, {"label": "goal", "start_step": 1416, "end_step": 1520, "id": "e6d313fe-8c5f-413a-bc7e-2e1b07d837d7"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the table surface, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1521, "end_step": 1700, "id": "62448d16-6a5d-4b1b-98e5-9dc40dca1dc5"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with pillars."}, {"label": "subtasks", "start_step": 1560, "end_step": 1687, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block which is mounted on the pillar."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the green base on the wooden board and releases the grip."}, {"label": "goal", "start_step": 1701, "end_step": 1785, "id": "3027f5bd-23d5-4834-a7ee-26049a21cc87"}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block located on the black table to the right of the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "goal", "start_step": 1786, "end_step": 1960, "id": "38148021-4c0c-48bb-9e1b-e1d0ff42b550"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 1961, "end_step": 2070, "id": "c1e6ac8e-ffa5-4f8d-8c64-713950bdf8dc"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish stable grasp."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "goal", "start_step": 2071, "end_step": 2220, "id": "f6140563-072c-4981-a442-d0fcb5bfa0e0"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hollow block towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2219, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hollow block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hollow block after placing it on the peg."}, {"label": "goal", "start_step": 2221, "end_step": 2315, "id": "f12dc077-3ab6-45fe-a424-ff9f099dc77e"}, {"label": "subtasks", "start_step": 2235, "end_step": 2241, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white bottle onto the wooden rack and releases it."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2324, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "goal", "start_step": 2316, "end_step": 2460, "id": "9145581f-eab0-40ab-9640-8fb9530d2fcb"}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the upper position of the target white tube on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white tube with a purple top by lowering the block to fit over the tube."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the white tube."}, {"label": "home", "start_step": 2512, "end_step": 2541, "id": "zo-f4TWGXbERD34LOMnDv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward from the right side towards the green hexagonal block in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 90, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the backmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the backmost purple rod by inserting the rod into the hole of the green block."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the top of the target post on the rack."}, {"label": "subtasks", "start_step": 510, "end_step": 644, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the target post and presses it down to fit onto the post."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal object and slightly moves upward."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal part on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal part on the black tabletop to establish grip."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 818, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the leftmost purple post on the wooden rack, adjusting to fit it firmly in place."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the leftmost pillar of the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1101, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1102, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to fix it in place."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and separates from the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the target column on the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target column and inserts it downwards onto the column."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the corresponding post of the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the table surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with pillars."}, {"label": "subtasks", "start_step": 1560, "end_step": 1687, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block which is mounted on the pillar."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the green base on the wooden board and releases the grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block located on the black table to the right of the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish stable grasp."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hollow block towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2219, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hollow block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hollow block after placing it on the peg."}, {"label": "subtasks", "start_step": 2235, "end_step": 2241, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white bottle onto the wooden rack and releases it."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2324, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the upper position of the target white tube on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white tube with a purple top by lowering the block to fit over the tube."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the white tube."}], "episode_index": 1}
+{"source_uid": "594c0feeba53e1a3", "num_frames": 2531, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: idle: Right hand remains empty at the right initial position with no obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 235, "id": "bda45aff-5d68-4987-8289-6eec4096cc6d"}, {"label": "valid", "start_step": 0, "end_step": 2500, "id": "3Eery6Iq5oZ_YLE2s_l8X"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block in front-left of the wooden block stand, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close and make small adjustments to establish a stable grip on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around and securely grasp the green hexagonal block resting on the adjacent green base."}, {"label": "goal", "start_step": 236, "end_step": 385, "id": "57ce64e9-e4f3-4cb2-a7ee-d5e2e3001529"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the green base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the wooden rack to position it directly above the target purple rod."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden rack and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod of the wooden rack without observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: press: Right hand presses the top white hexagonal block on the purple peg of the wooden assembly stand vertically downward to seat it firmly on the peg."}, {"label": "goal", "start_step": 386, "end_step": 475, "id": "461187a7-148b-4a93-ac4b-d84dc675f21d"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and leftward away from the wooden stand toward the loose white hexagonal block on the black table surface, staying out of contact with the target block during movement."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand contacts the target loose white hexagonal block on the table, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "goal", "start_step": 476, "end_step": 610, "id": "6aabb276-8e99-48d5-baaf-d6f76791fd88"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it downward to fit securely onto the green base mounted on the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, breaking contact with the nut by the end of the segment."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the purple rod on the wooden base and releases the stably placed block."}, {"label": "goal", "start_step": 611, "end_step": 690, "id": "6c45208a-9792-42be-b087-66ac412516de"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers closing and adjusting to establish a grasp on the block."}, {"label": "goal", "start_step": 691, "end_step": 900, "id": "40688ee2-6413-4187-92ef-2a5a6c0a3e2f"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod on the wooden block, and lowers the nut to fit onto the rod with slight position adjustments."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward from above the wooden block stand toward the white hexagonal block placed in front of the stand."}, {"label": "goal", "start_step": 901, "end_step": 1020, "id": "8d87fed4-30a4-4b6d-81b5-144ea4a76997"}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 1021, "end_step": 1195, "id": "2b923c6d-5fbd-4812-8958-f353e3652e52"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, transporting it upward and backward to position it directly above the target purple vertical peg on the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target purple vertical peg, lowering the nut along the peg to fit it into the assembly position on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block."}, {"label": "goal", "start_step": 1196, "end_step": 1290, "id": "bd0f53e7-3a0b-4455-b3a9-b28002a053bc"}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 1291, "end_step": 1465, "id": "18fa056f-cdf5-4069-af0d-46ae596269f2"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden base, moves the block downward to fit it onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release_retreat: Right hand opens fingers to release the green hexagonal block secured on the peg, moves the empty hand downward away from the assembly area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand, empty, moves downward from the area near the wooden block assembly toward the green hexagonal block on the black table surface with an open hand."}, {"label": "goal", "start_step": 1466, "end_step": 1530, "id": "dbfc2f3a-0c31-405a-b689-32af1ce57f5b"}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 1531, "end_step": 1735, "id": "95902023-bd6e-49d9-8ac6-91b9324cdbfb"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod, makes small positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves down and right from the stacked block assembly, approaching the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1736, "end_step": 1835, "id": "4bf86553-2e3f-4bc9-a612-139297b4ae8e"}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the white hexagonal block, fingers close around the block with slight adjustments to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully raised off the table."}, {"label": "goal", "start_step": 1836, "end_step": 1965, "id": "2ffcb2c0-5391-4a10-9bc7-87a9befecfc8"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the empty mounting position on the wooden assembly board."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty mounting post on the wooden assembly board, adjusting its position slightly to fit the block securely onto the post."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block, separating the fingers from the block surface."}, {"label": "goal", "start_step": 1966, "end_step": 2045, "id": "baee8252-61d2-42f3-a27d-a041662cf971"}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the dark table surface, with fingers open approaching the target object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish initial contact and grip."}, {"label": "goal", "start_step": 2046, "end_step": 2195, "id": "bf82db7e-c2d2-459a-9d1b-3e164c5f8aff"}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without any observable movement."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is completely off the dark table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the held white hexagonal block toward the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2108, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to separate from the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 2196, "end_step": 2285, "id": "b05e5e59-0b28-4bb7-9e40-7eeffd080bc0"}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward from the wooden block holder area toward the small green block on the black table surface, with fingers extended as it approaches the target block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the small green block on the table, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green cubic block stationary on the dark gray table surface with no visible movement."}, {"label": "goal", "start_step": 2286, "end_step": 2445, "id": "49c9fbf9-3d19-4bb8-ba38-7adf9b9825b1"}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the green cubic block off the dark gray table surface and moves it upward and leftward to the position directly above the white pump bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2340, "end_step": 2444, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand holds the green cubic block and makes slight positional adjustments to align the block's central hole with the top of the white pump bottle."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand lowers the aligned green cubic block onto the white pump bottle cap and opens its fingers to release the block."}, {"label": "home", "start_step": 2501, "end_step": 2530, "id": "h1SpKUJcCIC_q9dcHE8lb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: idle: Right hand remains empty at the right initial position with no obvious movement."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block in front-left of the wooden block stand, with fingers kept open."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close and make small adjustments to establish a stable grip on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around and securely grasp the green hexagonal block resting on the adjacent green base."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the green base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the wooden rack to position it directly above the target purple rod."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden rack and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod of the wooden rack without observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: press: Right hand presses the top white hexagonal block on the purple peg of the wooden assembly stand vertically downward to seat it firmly on the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and leftward away from the wooden stand toward the loose white hexagonal block on the black table surface, staying out of contact with the target block during movement."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand contacts the target loose white hexagonal block on the table, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it downward to fit securely onto the green base mounted on the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, breaking contact with the nut by the end of the segment."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the purple rod on the wooden base and releases the stably placed block."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers closing and adjusting to establish a grasp on the block."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 742, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod on the wooden block, and lowers the nut to fit onto the rod with slight position adjustments."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward from above the wooden block stand toward the white hexagonal block placed in front of the stand."}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, transporting it upward and backward to position it directly above the target purple vertical peg on the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target purple vertical peg, lowering the nut along the peg to fit it into the assembly position on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden base, moves the block downward to fit it onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release_retreat: Right hand opens fingers to release the green hexagonal block secured on the peg, moves the empty hand downward away from the assembly area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand, empty, moves downward from the area near the wooden block assembly toward the green hexagonal block on the black table surface with an open hand."}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod, makes small positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves down and right from the stacked block assembly, approaching the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the white hexagonal block, fingers close around the block with slight adjustments to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully raised off the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the empty mounting position on the wooden assembly board."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty mounting post on the wooden assembly board, adjusting its position slightly to fit the block securely onto the post."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the dark table surface, with fingers open approaching the target object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish initial contact and grip."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without any observable movement."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is completely off the dark table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the held white hexagonal block toward the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2108, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to separate from the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward from the wooden block holder area toward the small green block on the black table surface, with fingers extended as it approaches the target block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the small green block on the table, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green cubic block stationary on the dark gray table surface with no visible movement."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the green cubic block off the dark gray table surface and moves it upward and leftward to the position directly above the white pump bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2340, "end_step": 2444, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand holds the green cubic block and makes slight positional adjustments to align the block's central hole with the top of the white pump bottle."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand lowers the aligned green cubic block onto the white pump bottle cap and opens its fingers to release the block."}], "episode_index": 2}
+{"source_uid": "08a0eebf206528ab", "num_frames": 2493, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its pose at the left side of the table, with wrist slightly rotating and fingers gradually spreading, no object contacted. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut at the bottom left of the wooden board, without touching the object."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "27a87c5a-4f80-4723-8aa2-dbfcb052916d"}, {"label": "valid", "start_step": 0, "end_step": 2462, "id": "03G-W7dcTh5eLrltfsIoq"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut at the bottom left of the wooden board, without touching the object."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal nut on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table near the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 171, "end_step": 320, "id": "00ba372a-3510-4995-b729-8944ae2ef9d4"}, {"label": "subtasks", "start_step": 188, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it toward the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green block onto the leftmost purple peg, then releases the green block."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white block on top of the leftmost peg and grasps it."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the top of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block downward along the leftmost purple peg to adjust its position."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 321, "end_step": 415, "id": "d418adb5-3948-4cea-b724-b842e180c90f"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 416, "end_step": 560, "id": "d0cf0f28-e59a-4376-9bb8-5b0f896cf543"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 561, "end_step": 705, "id": "c947ae2d-57a3-4e3a-b07d-2ab71c822366"}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface, keeping empty."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part above the black table surface without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 706, "end_step": 875, "id": "65802021-b2b5-4edb-a75f-5485f93bb852"}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward toward the topmost purple rod on the pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the topmost purple rod and lowers it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the topmost purple rod without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the stacking set, with fingers opening and moving upward slightly."}, {"label": "goal", "start_step": 876, "end_step": 1000, "id": "16f0ae7a-4fec-4d17-ad46-6e91bacce9b6"}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking set toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table surface, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1001, "end_step": 1130, "id": "a26e383e-2a4d-4c41-aa0d-4d04a3606950"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1131, "end_step": 1225, "id": "ac24ad69-8a82-4e4c-a6be-aa245e0c7772"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1226, "end_step": 1380, "id": "54a74065-52b3-473a-a3c9-d0f0c38a5100"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple rod to push it into position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal part on the table, with no contact to the target part."}, {"label": "goal", "start_step": 1381, "end_step": 1475, "id": "262d55af-087a-4ec6-b3e8-8f285033fed5"}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1476, "end_step": 1670, "id": "7cfdd21b-07cb-4174-9c03-ad593fffdd24"}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the top of the purple rod on the wooden rack, aligning the inner hole with the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal part downward along the purple rod until it is supported by the green block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "goal", "start_step": 1671, "end_step": 1770, "id": "0d19b4da-4dba-4893-9955-4aa5099ebb99"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1771, "end_step": 1895, "id": "2b6daefa-5615-4480-9af6-af2fdf9ff059"}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal column from the table and moves it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hollow hexagonal column onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1838, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal column on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases it."}, {"label": "goal", "start_step": 1896, "end_step": 1990, "id": "a9d65642-b3c0-4ce1-9419-0be7d930003f"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1991, "end_step": 2155, "id": "5835fd82-c08a-4fa9-82ea-54ef00dcc0e5"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod through the block's central hole."}, {"label": "subtasks", "start_step": 2048, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white cylinder on the wooden base, moving the cylinder downward slightly."}, {"label": "goal", "start_step": 2156, "end_step": 2260, "id": "ff8c3909-5df6-4d5b-a765-f6a194ee4a14"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic object with a square hole on the dark table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green cubic object on the dark table surface."}, {"label": "goal", "start_step": 2261, "end_step": 2415, "id": "5ce7e1a5-7b0f-482b-8103-3c79093d3d0c"}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it left-upward to the top of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2407, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the rightmost white bottle and fits it down onto the bottle, with minor position adjustments during the process."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the bottle, with fingers opening and separating from the ring."}, {"label": "home", "start_step": 2463, "end_step": 2492, "id": "zIRdvVOwSUN2Bq7SqVTUk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its pose at the left side of the table, with wrist slightly rotating and fingers gradually spreading, no object contacted. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut at the bottom left of the wooden board, without touching the object."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut at the bottom left of the wooden board, without touching the object."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal nut on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table near the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it toward the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green block onto the leftmost purple peg, then releases the green block."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white block on top of the leftmost peg and grasps it."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the top of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block downward along the leftmost purple peg to adjust its position."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface, keeping empty."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part above the black table surface without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward toward the topmost purple rod on the pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the topmost purple rod and lowers it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the topmost purple rod without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the stacking set, with fingers opening and moving upward slightly."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking set toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table surface, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple rod to push it into position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal part on the table, with no contact to the target part."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the top of the purple rod on the wooden rack, aligning the inner hole with the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal part downward along the purple rod until it is supported by the green block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal column from the table and moves it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hollow hexagonal column onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1838, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal column on the purple rod without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases it."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod through the block's central hole."}, {"label": "subtasks", "start_step": 2048, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white cylinder on the wooden base, moving the cylinder downward slightly."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic object with a square hole on the dark table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green cubic object on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it left-upward to the top of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2407, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the rightmost white bottle and fits it down onto the bottle, with minor position adjustments during the process."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the bottle, with fingers opening and separating from the ring."}], "episode_index": 3}
+{"source_uid": "e2fa101bb0668ac6", "num_frames": 2453, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from initial position to home position and stops. | Right hand: reach: Right hand moves towards the green hexagonal block on the left side of the table."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "b8a74cd6-8aeb-475b-a120-2fba3b956b40"}, {"label": "valid", "start_step": 0, "end_step": 2428, "id": "wE0zbCUpMsi8lAk01MJtY"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 90, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 196, "end_step": 370, "id": "fee7a782-b11b-4a90-8d60-6c277b68e0c9"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple rod."}, {"label": "subtasks", "start_step": 240, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod by fitting it onto the rod."}, {"label": "goal", "start_step": 371, "end_step": 475, "id": "7e9c7240-ae46-4b91-8cbf-17c8bf2435f2"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 476, "end_step": 655, "id": "658f6da4-6d29-4852-8e06-40a6f79aa3a5"}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 656, "end_step": 755, "id": "06deba0f-cb92-44f6-a57f-3d93bb777384"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts its finger position to approach and prepare to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 756, "end_step": 900, "id": "e50fbbab-f1cf-407b-befc-9f886885014a"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix its position."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white annular object onto the purple post of the wooden base."}, {"label": "goal", "start_step": 901, "end_step": 1005, "id": "cd015862-e9ce-45fb-a356-73ef29e5aa03"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white annular object on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white annular object on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1006, "end_step": 1150, "id": "2c7e8458-eab8-4ab6-b6d3-0e5351d4c202"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1151, "end_step": 1230, "id": "f1e0199b-b246-4498-b2ed-862a47f31599"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand grasps the green block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1231, "end_step": 1395, "id": "ece604f8-7357-48ea-a383-2f6a4a07affe"}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden base."}, {"label": "goal", "start_step": 1396, "end_step": 1510, "id": "6f8b0672-56a9-4c76-80da-8cf366a74f9d"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1511, "end_step": 1660, "id": "273240b1-c176-46c1-9436-d8699a391ff7"}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and transports it to the upper area of the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white cylindrical part with the corresponding post on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base's peg and releases the block."}, {"label": "goal", "start_step": 1661, "end_step": 1750, "id": "46e02487-6012-4121-939f-5dec79602cce"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1751, "end_step": 1870, "id": "03950329-f06a-4e2d-9a4b-1b672a7a0230"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it to the area above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple rod on the wooden base and releases contact with the block."}, {"label": "goal", "start_step": 1871, "end_step": 1985, "id": "be50ad61-924c-4115-91f3-5f48e39564d6"}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: retreat: Right hand moves away from the wooden base assembly area."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface until it is completely off the surface."}, {"label": "goal", "start_step": 1986, "end_step": 2140, "id": "ffaa02d5-9bc7-4a67-9111-d6aa79b442f0"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by pressing it down to fit in position."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp_release: Right hand adjusts its grasp on and releases the white cylinder on the wooden tray."}, {"label": "goal", "start_step": 2141, "end_step": 2220, "id": "d82ed3ca-7fe7-4326-832c-8bfac368fe5a"}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2221, "end_step": 2370, "id": "9c3d0e14-b5a7-4cc8-bd9e-9fbbe89bf811"}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the green block onto the rightmost white bottle and then releases the block."}, {"label": "home", "start_step": 2429, "end_step": 2452, "id": "Oiz1FZV46HGH-BTLROWlB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from initial position to home position and stops. | Right hand: reach: Right hand moves towards the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 90, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple rod."}, {"label": "subtasks", "start_step": 240, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts its finger position to approach and prepare to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix its position."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white annular object onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white annular object on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white annular object on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand grasps the green block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and transports it to the upper area of the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white cylindrical part with the corresponding post on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base's peg and releases the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it to the area above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple rod on the wooden base and releases contact with the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: retreat: Right hand moves away from the wooden base assembly area."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface until it is completely off the surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by pressing it down to fit in position."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp_release: Right hand adjusts its grasp on and releases the white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the green block onto the rightmost white bottle and then releases the block."}], "episode_index": 4}
+{"source_uid": "d56360eee81c3979", "num_frames": 2322, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward and slightly inward from its initial outer left position to the front left resting position, with fingers adjusting from a fully extended posture to a slightly curved, relaxed posture. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block near the wooden block stand, with fingers extended, and does not contact the block during this movement."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "9a1941fc-e769-49a0-9c9e-4205f8bc17c7"}, {"label": "valid", "start_step": 0, "end_step": 2290, "id": "8mPqGta9T16Vb805DzJdN"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block near the wooden block stand, with fingers extended, and does not contact the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block resting on the table surface, fingers close around the block and make small positional adjustments to form a grip, while the block remains supported by the table."}, {"label": "goal", "start_step": 156, "end_step": 305, "id": "add16947-016d-43e7-a05a-f7d1a7dc3395"}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the left purple peg of the wooden stand, with fingers opening to release the seated block."}, {"label": "goal", "start_step": 306, "end_step": 385, "id": "c3a4cae0-7f3d-4ffc-81d5-248c7e1a32ce"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the table surface in front of the wooden stand."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 386, "end_step": 555, "id": "0905455f-96dd-4a3a-a53e-d0abe4e600ea"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it to the position directly above the target purple post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the target purple post, and adjusts the nut's position to fit it down onto the post."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold_release: Right hand holds the white cylindrical block on the wooden rack and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 556, "end_step": 630, "id": "8d69eb61-ee1b-418c-a990-758c4e65761d"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "goal", "start_step": 631, "end_step": 775, "id": "74586be9-4db1-44f5-80c3-ca56a0777799"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the white hexagonal block upward and rightward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden stand and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand places the white cylindrical block onto the corresponding peg of the wooden assembly stand, presses it down to secure it and releases the block."}, {"label": "goal", "start_step": 776, "end_step": 855, "id": "501da871-f72c-434e-837e-5c7e2eea575f"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned next to the wooden assembly stand on the table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a firm grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift: Right hand firmly holds the white hexagonal block resting on the dark table surface, lifts the block vertically upward until it is no longer in contact with the table surface."}, {"label": "goal", "start_step": 856, "end_step": 1055, "id": "7e1bccba-8f6e-43f5-8854-f16929602ac9"}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air, moving it toward the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod, making small wrist and finger adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the green hexagonal block on the table, staying empty."}, {"label": "goal", "start_step": 1056, "end_step": 1125, "id": "b2846edc-9a7b-4eca-8ed3-98733e5b9643"}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the target green hexagonal block on the table, making contact and adjusting to form a stable grasp."}, {"label": "goal", "start_step": 1126, "end_step": 1305, "id": "dac0f109-3f8e-4d6d-8fe0-39b6011da0f8"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the position above the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1178, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post on the wooden stand, lowers the block and makes small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the topmost white cylindrical block on the wooden assembly rack."}, {"label": "goal", "start_step": 1306, "end_step": 1395, "id": "e11dffa6-4b7e-4b5a-acbd-01541ee041aa"}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward from the wooden assembly rack toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 1396, "end_step": 1555, "id": "2b3b395d-3a3f-4f80-9e85-a3e2254680cb"}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the stacked wooden block set toward the white hexagonal nut placed on the table to the right front of the blocks, keeping fingers open while approaching the target object."}, {"label": "goal", "start_step": 1556, "end_step": 1625, "id": "4c54cf35-55b8-4f71-bbd6-5aed0bc76cfc"}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table to form a grip on the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 1626, "end_step": 1775, "id": "02be3310-43f3-4bdd-9bd9-ed9116591688"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits it onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the seated position on the purple rod and opens fingers to release the nut."}, {"label": "goal", "start_step": 1776, "end_step": 1885, "id": "b1b99daa-c617-4ad2-b1a4-41398e5c3226"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary adjacent to the right side of the wooden block rack, with no visible movement or contact with grasped objects."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table, fingers held extended, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually closing around the nut to adjust grip position, with no stable grasp yet achieved."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the right area of the black table surface without moving."}, {"label": "goal", "start_step": 1886, "end_step": 2010, "id": "311f10ef-bf94-4752-9aff-8ab777a591b6"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits it onto the rod until it rests stably on the stand."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled white hexagonal block on the wooden stand."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area of the wooden bottle rack toward the green cubic block on the dark table surface, lifting its index finger off a purple-capped bottle cap as it moves, remaining empty as it approaches the block."}, {"label": "goal", "start_step": 2011, "end_step": 2110, "id": "5692024a-ec21-44c7-aad7-39e9dcbabbe6"}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the green cubic block resting on the dark table surface to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green holed block resting on the right area of the black table surface without moving."}, {"label": "goal", "start_step": 2111, "end_step": 2240, "id": "311cde9f-8a31-4db0-971a-61f01fb8be03"}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green holed block off the table surface, transporting the block upward and leftward to the position above the unoccupied peg on the light wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green holed block with the target peg on the light wooden rack, moving the block downward to fit the block securely onto the peg."}, {"label": "home", "start_step": 2291, "end_step": 2321, "id": "Esn59H8mVW7fZW8Bz73bQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward and slightly inward from its initial outer left position to the front left resting position, with fingers adjusting from a fully extended posture to a slightly curved, relaxed posture. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block near the wooden block stand, with fingers extended, and does not contact the block during this movement."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block near the wooden block stand, with fingers extended, and does not contact the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block resting on the table surface, fingers close around the block and make small positional adjustments to form a grip, while the block remains supported by the table."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the left purple peg of the wooden stand, with fingers opening to release the seated block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the table surface in front of the wooden stand."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it to the position directly above the target purple post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 435, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the target purple post, and adjusts the nut's position to fit it down onto the post."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold_release: Right hand holds the white cylindrical block on the wooden rack and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the white hexagonal block upward and rightward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden stand and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand places the white cylindrical block onto the corresponding peg of the wooden assembly stand, presses it down to secure it and releases the block."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned next to the wooden assembly stand on the table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a firm grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift: Right hand firmly holds the white hexagonal block resting on the dark table surface, lifts the block vertically upward until it is no longer in contact with the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air, moving it toward the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod, making small wrist and finger adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the green hexagonal block on the table, staying empty."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the target green hexagonal block on the table, making contact and adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the position above the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1178, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post on the wooden stand, lowers the block and makes small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the topmost white cylindrical block on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward from the wooden assembly rack toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the stacked wooden block set toward the white hexagonal nut placed on the table to the right front of the blocks, keeping fingers open while approaching the target object."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table to form a grip on the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits it onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the seated position on the purple rod and opens fingers to release the nut."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary adjacent to the right side of the wooden block rack, with no visible movement or contact with grasped objects."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table, fingers held extended, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually closing around the nut to adjust grip position, with no stable grasp yet achieved."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the right area of the black table surface without moving."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits it onto the rod until it rests stably on the stand."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled white hexagonal block on the wooden stand."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area of the wooden bottle rack toward the green cubic block on the dark table surface, lifting its index finger off a purple-capped bottle cap as it moves, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the green cubic block resting on the dark table surface to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green holed block resting on the right area of the black table surface without moving."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green holed block off the table surface, transporting the block upward and leftward to the position above the unoccupied peg on the light wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green holed block with the target peg on the light wooden rack, moving the block downward to fit the block securely onto the peg."}], "episode_index": 5}
+{"source_uid": "d80e28b85040f141", "num_frames": 2455, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly upward and rotates its wrist with fingers opening, remaining empty and not contacting any object. | Right hand: reach: Right hand moves leftward and downward from the right side of the table, approaching the green hexagonal block near the left side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "79f6297e-d061-4acd-ad3c-e3c9324cc2fa"}, {"label": "valid", "start_step": 0, "end_step": 2419, "id": "5pOPpp8PQFWdKuR9NMiiy"}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table, approaching the green hexagonal block near the left side of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making slight posture adjustments to stabilize the grasp."}, {"label": "goal", "start_step": 156, "end_step": 365, "id": "681092d0-fb54-4189-92a6-62c1d40ca496"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 202, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it down onto the peg, making small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 366, "end_step": 475, "id": "e80bcc61-e77b-48d3-9be2-88786550ff96"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hollow hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white hexagonal nut resting on the black table surface, with fingers making small grip adjustments."}, {"label": "goal", "start_step": 476, "end_step": 640, "id": "0703b56d-91b2-4306-8750-5f2dbeaaa752"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it rightward and upward to the area above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press_release: Right hand presses the white hexagonal nut downward along the purple peg to the peg base and releases its grip on the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 641, "end_step": 720, "id": "fe4cfe03-1883-43a6-9f4d-8f05005119c6"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "goal", "start_step": 721, "end_step": 885, "id": "79a1ea45-a6c8-410e-8f29-369439687ee3"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while moving it toward the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the front-left purple rod by aligning its hole with the rod and inserting it downward."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal object on the front-left purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table below the wooden rack."}, {"label": "goal", "start_step": 886, "end_step": 970, "id": "9e0d3755-3c41-4cb5-8e32-c274e397209b"}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 971, "end_step": 1140, "id": "1b7e777c-960d-44a3-b932-a7693f58f70f"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, adjusting the part's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the purple peg and retreats slightly upward from the part."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1141, "end_step": 1220, "id": "0d30d06c-697c-442d-8235-27a8ff3916b4"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1221, "end_step": 1375, "id": "c605a06b-2407-434c-9a5a-aff46aedcd97"}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the middle peg of the peg board."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the middle peg of the peg board by aligning and lowering it."}, {"label": "subtasks", "start_step": 1268, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the green cubic block on the middle peg of the peg board without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1376, "end_step": 1470, "id": "b97d73e0-c78f-413e-a555-66bdce98a811"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the green block, with fingers closing to secure the grip."}, {"label": "goal", "start_step": 1471, "end_step": 1610, "id": "054d68ff-cf7c-4095-a25c-dec43f4e4b34"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the green block to the upper position of the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the green post of the wooden rack via aligning and inserting."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the green post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod by opening its fingers and moving slightly upward."}, {"label": "goal", "start_step": 1611, "end_step": 1715, "id": "d58afa4f-d4cb-4585-b6a8-f0d1581b5f48"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves rightward and downward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table by closing its fingers around the block."}, {"label": "goal", "start_step": 1716, "end_step": 1830, "id": "f81de192-0129-4359-a532-4ec79caded3e"}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple rod by aligning the central hole and lowering the piece onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white block with a purple rod on the wooden base."}, {"label": "goal", "start_step": 1831, "end_step": 1915, "id": "10cff28a-d1ac-4138-9285-5b272e22b649"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting slightly."}, {"label": "goal", "start_step": 1916, "end_step": 2065, "id": "a90e460b-abe9-4720-a01b-2733ea471f76"}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the purple rod on the wooden rack, inserting it downward along the rod to the bottom position."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top into the hole of the wooden rack."}, {"label": "goal", "start_step": 2066, "end_step": 2165, "id": "b76ca00d-3089-4ba9-b5a3-8dbe75b59be8"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 2092, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table, with fingers closing around it."}, {"label": "goal", "start_step": 2166, "end_step": 2365, "id": "74ecbd30-abaf-4c60-9959-7c38c2064096"}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green holed square block from the table and transports it upward and leftward toward the rightmost column of the bottle rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the green holed square block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the green holed square block on the target white bottle without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press: Right hand presses the green holed square block downward along the target bottle to secure it."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the green holed square block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2420, "end_step": 2454, "id": "q_8Z1hl92eeFLcWImhcg_"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly upward and rotates its wrist with fingers opening, remaining empty and not contacting any object. | Right hand: reach: Right hand moves leftward and downward from the right side of the table, approaching the green hexagonal block near the left side of the wooden pegboard."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table, approaching the green hexagonal block near the left side of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making slight posture adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 202, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it down onto the peg, making small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hollow hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white hexagonal nut resting on the black table surface, with fingers making small grip adjustments."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it rightward and upward to the area above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press_release: Right hand presses the white hexagonal nut downward along the purple peg to the peg base and releases its grip on the nut."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while moving it toward the front-left purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the front-left purple rod by aligning its hole with the rod and inserting it downward."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal object on the front-left purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, adjusting the part's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the purple peg and retreats slightly upward from the part."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the middle peg of the peg board."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the middle peg of the peg board by aligning and lowering it."}, {"label": "subtasks", "start_step": 1268, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the green cubic block on the middle peg of the peg board without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the green block, with fingers closing to secure the grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the green block to the upper position of the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the green post of the wooden rack via aligning and inserting."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the green post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod by opening its fingers and moving slightly upward."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves rightward and downward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple rod by aligning the central hole and lowering the piece onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white block with a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting slightly."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2054, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the purple rod on the wooden rack, inserting it downward along the rod to the bottom position."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top into the hole of the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 2092, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table, with fingers closing around it."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green holed square block from the table and transports it upward and leftward toward the rightmost column of the bottle rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the green holed square block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the green holed square block on the target white bottle without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press: Right hand presses the green holed square block downward along the target bottle to secure it."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the green holed square block, with fingers opening and separating from the block."}], "episode_index": 6}
+{"source_uid": "4d9aa582074e412a", "num_frames": 3135, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "4a894355-1be6-45d3-b26a-20149228542d"}, {"label": "valid", "start_step": 0, "end_step": 3107, "id": "lGcwaDz6HpE1Ej0Er1R2s"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block stably on the table without movement."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black tabletop, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 206, "end_step": 405, "id": "77a35413-3e5d-4154-90cb-2875404e47f1"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 292, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg of the wooden base."}, {"label": "goal", "start_step": 406, "end_step": 520, "id": "c7b458de-36c4-4b32-a8db-0367db419ce9"}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 521, "end_step": 755, "id": "70a0455b-9f79-48fa-afc7-7901a3070bf9"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to the upper position of the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal object with the leftmost purple post and pushes it down to complete the mating."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object fitted on the purple post, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the leftmost purple post position after releasing the object."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 756, "end_step": 870, "id": "a1df4323-e283-4a77-b4cb-abe3bae100d7"}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black tabletop to establish stable grasp."}, {"label": "goal", "start_step": 871, "end_step": 1035, "id": "23a257f7-ed6b-4b41-91b3-0875531d3d98"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from the block."}, {"label": "goal", "start_step": 1036, "end_step": 1155, "id": "e459bda4-3d9c-4a1c-a2f0-3e53d6b0290a"}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts finger positions to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1156, "end_step": 1310, "id": "e73a9741-36c0-4480-9669-b2bf24d966b7"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1311, "end_step": 1455, "id": "f1a3beba-90cd-4879-9e2f-a8abeb41b3c3"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1456, "end_step": 1635, "id": "83fc5d6c-ee46-451f-971b-c61045fd0579"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the white peg on the wooden rack."}, {"label": "subtasks", "start_step": 1508, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white peg and lowers it to mate the block onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1636, "end_step": 1750, "id": "7a0a0d7d-109d-42dd-b8b5-dfbed94d33d5"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to prepare for grasping the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1751, "end_step": 2035, "id": "dbf5e7ae-a3ed-4fac-a4ce-c2d238997729"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1830, "end_step": 2024, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 2036, "end_step": 2180, "id": "6d43cb38-d622-4a18-93e0-5a6b2fd29f73"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2181, "end_step": 2370, "id": "c0d8d8a4-826f-4414-ad0c-ee96fd3ee586"}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the wooden base."}, {"label": "goal", "start_step": 2371, "end_step": 2550, "id": "88e710d6-427d-44cf-a395-2852bb36c9e3"}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2587, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2551, "end_step": 2765, "id": "9ea3eef0-72b9-4668-9598-0c3d4d27aabe"}, {"label": "subtasks", "start_step": 2588, "end_step": 2601, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal object off the black table surface."}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal object to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the purple rod, fitting it down onto the rod."}, {"label": "subtasks", "start_step": 2730, "end_step": 2781, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object, opening fingers to separate from the object."}, {"label": "goal", "start_step": 2766, "end_step": 2870, "id": "d44129bd-d347-45b2-98f0-d57aa5b3398e"}, {"label": "subtasks", "start_step": 2782, "end_step": 2827, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the black table surface."}, {"label": "subtasks", "start_step": 2828, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green hollow block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the right side of the table surface."}, {"label": "goal", "start_step": 2871, "end_step": 3050, "id": "49d6d6f4-a2f5-4772-85c0-9451bbd4800f"}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2925, "end_step": 3044, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the white bottle and fits it down onto the bottle."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that is already fitted on the white bottle."}, {"label": "home", "start_step": 3108, "end_step": 3134, "id": "1aq4RlY9tKQzX9_YkWSYq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block stably on the table without movement."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black tabletop, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 292, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to the upper position of the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal object with the leftmost purple post and pushes it down to complete the mating."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object fitted on the purple post, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the leftmost purple post position after releasing the object."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black tabletop to establish stable grasp."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from the block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts finger positions to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the white peg on the wooden rack."}, {"label": "subtasks", "start_step": 1508, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white peg and lowers it to mate the block onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to prepare for grasping the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1830, "end_step": 2024, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the wooden base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2587, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2588, "end_step": 2601, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal object off the black table surface."}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal object to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the purple rod, fitting it down onto the rod."}, {"label": "subtasks", "start_step": 2730, "end_step": 2781, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object, opening fingers to separate from the object."}, {"label": "subtasks", "start_step": 2782, "end_step": 2827, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the black table surface."}, {"label": "subtasks", "start_step": 2828, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green hollow block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the right side of the table surface."}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2925, "end_step": 3044, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the white bottle and fits it down onto the bottle."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that is already fitted on the white bottle."}], "episode_index": 7}
+{"source_uid": "cf5831b7f162c339", "num_frames": 2437, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger postures with slight finger movements while remaining at the left side of the workspace, holding no objects. | Right hand: idle: Right hand remains empty on the right side of the workspace without any visible movement."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "d98bb3bd-0815-415b-9e6b-f549d14126db"}, {"label": "valid", "start_step": 0, "end_step": 2409, "id": "wtRzoO90cBBvQtwZuT8vU"}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger postures with slight finger movements while remaining at the left side of the workspace, holding no objects. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 156, "end_step": 340, "id": "44b88700-3a6e-4f00-be3d-f0590f0cf4c8"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg, and lowers the block down the peg until it rests stably on the wooden base while making fine positional adjustments."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table surface, remaining empty with no contact to the target block."}, {"label": "goal", "start_step": 341, "end_step": 430, "id": "5f0421a9-8066-417e-bf86-ff539a5d420c"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, with the block remaining resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table surface, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal nut resting on the green supporting block."}, {"label": "goal", "start_step": 431, "end_step": 565, "id": "ddc0b69a-4da7-4c40-9720-387ab4ab32e0"}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to fully separate it from the green supporting block on the table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and rightward to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the top white cylindrical block on the wooden assembly rack downward to fully seat it onto the support peg."}, {"label": "goal", "start_step": 566, "end_step": 670, "id": "cf9d6d48-e7d0-4353-a47d-f70bcc43d64d"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty from the assembly rack toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small adjustments to form a secure grip on the object."}, {"label": "goal", "start_step": 671, "end_step": 805, "id": "98c604db-0444-4e03-8679-a124d0d4c76f"}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden assembly base, positioning the nut above the target rod."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod below, lowering the nut vertically to fit it onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses downward on the top surface of the topmost white cylindrical block on the wooden assembly stand to secure it fully onto the support post."}, {"label": "goal", "start_step": 806, "end_step": 890, "id": "e2c2f7a7-83aa-4d81-ab26-19a9dd7663b4"}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and toward the front-left white hexagonal nut placed on the black table surface, remaining empty with fingers slightly open, without contacting the nut during movement."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand contacts the front-left white hexagonal nut on the table, fingers gradually close and make small positional adjustments to establish a stable grip on the nut."}, {"label": "goal", "start_step": 891, "end_step": 1025, "id": "1fd799fc-7aac-4cc8-bff3-b21c6f6d8315"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 945, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downwards and leftwards from the top of the wooden pegboard toward the nearby green hexagonal block on the black table surface, with fingers kept open, no contact with the target block."}, {"label": "goal", "start_step": 1026, "end_step": 1140, "id": "7679170e-2336-4fa7-ad39-2523ba47bb03"}, {"label": "subtasks", "start_step": 1058, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers adjust positions and close gradually around the block, with visible fine movements of fingers and wrist to establish a stable grip."}, {"label": "goal", "start_step": 1141, "end_step": 1255, "id": "272d7acb-55f0-42b4-bad8-518f7d9dec0f"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, transports it to the purple peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand moves the purple rod downward to align and insert it into the green block on the wooden assembly base."}, {"label": "goal", "start_step": 1256, "end_step": 1400, "id": "10d2e3a0-e169-45ec-b503-361cb9b5b26c"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward while empty to approach the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting fingers to close around and form a grip on the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the dark table surface."}, {"label": "goal", "start_step": 1401, "end_step": 1545, "id": "a68cb7cb-ffdc-48ca-9f18-fb7963d79929"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, makes slight positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the area above the wooden bottle rack toward the small white hexagonal nut on the dark table surface, with fingers held open as it approaches the target object."}, {"label": "goal", "start_step": 1546, "end_step": 1645, "id": "47114d75-4b05-40ab-9303-4b6f3fe56206"}, {"label": "subtasks", "start_step": 1590, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal nut on the table, making slight positional adjustments to the fingers to establish a secure grip on the object."}, {"label": "goal", "start_step": 1646, "end_step": 1760, "id": "dabcbd7e-1a51-4db1-ad5e-3476c158d0ed"}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and moves it upward to the area above the purple vertical rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal block to align its central opening with the purple vertical rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until the block rests securely on the top surface of the adjacent white block on the wooden stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: retreat: Right hand moves away from the wooden block rack area towards the lower right of the table, remaining empty with slight finger adjustments during movement."}, {"label": "goal", "start_step": 1761, "end_step": 1865, "id": "a5664ce8-4135-4080-a9a2-861faa280287"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, keeping fingers open while approaching the target."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal nut on the table, adjusting finger positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut on the dark table surface without moving."}, {"label": "goal", "start_step": 1866, "end_step": 2150, "id": "18bb1f26-a00b-48af-8110-398ca34941cb"}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and transports it upward to the position directly above the purple rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple rod, lowers the nut to fit it onto the rod to complete the mating action."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without obvious movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the purple-topped white cylinder placed on the wooden rack, separating from the cylinder."}, {"label": "goal", "start_step": 2151, "end_step": 2235, "id": "953b81b2-3619-4278-90b7-acf361934d40"}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves rightward and downward toward the green square block on the table with an open hand posture."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger positions to establish a grasp."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green square block resting on the dark gray table surface with no visible movement or grip adjustment."}, {"label": "goal", "start_step": 2236, "end_step": 2365, "id": "1fa2c3b7-145c-43ee-9649-5e74673d1a0c"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and transports it upward toward the top of the rightmost white bottle placed on the wooden rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_release: Right hand makes small positional adjustments to the green block to align its central hole with the top of the target white bottle, fits the block securely onto the bottle top and opens its fingers to release the block."}, {"label": "home", "start_step": 2410, "end_step": 2436, "id": "zL2MIAjm9Kdg1MiPeK2Ga"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger postures with slight finger movements while remaining at the left side of the workspace, holding no objects. | Right hand: idle: Right hand remains empty on the right side of the workspace without any visible movement."}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger postures with slight finger movements while remaining at the left side of the workspace, holding no objects. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden rack, with fingers slightly open."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg, and lowers the block down the peg until it rests stably on the wooden base while making fine positional adjustments."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table surface, remaining empty with no contact to the target block."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, with the block remaining resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table surface, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal nut resting on the green supporting block."}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to fully separate it from the green supporting block on the table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and rightward to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the top white cylindrical block on the wooden assembly rack downward to fully seat it onto the support peg."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty from the assembly rack toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small adjustments to form a secure grip on the object."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden assembly base, positioning the nut above the target rod."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod below, lowering the nut vertically to fit it onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses downward on the top surface of the topmost white cylindrical block on the wooden assembly stand to secure it fully onto the support post."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and toward the front-left white hexagonal nut placed on the black table surface, remaining empty with fingers slightly open, without contacting the nut during movement."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand contacts the front-left white hexagonal nut on the table, fingers gradually close and make small positional adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 945, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downwards and leftwards from the top of the wooden pegboard toward the nearby green hexagonal block on the black table surface, with fingers kept open, no contact with the target block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers adjust positions and close gradually around the block, with visible fine movements of fingers and wrist to establish a stable grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, transports it to the purple peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand moves the purple rod downward to align and insert it into the green block on the wooden assembly base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward while empty to approach the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting fingers to close around and form a grip on the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, makes slight positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the area above the wooden bottle rack toward the small white hexagonal nut on the dark table surface, with fingers held open as it approaches the target object."}, {"label": "subtasks", "start_step": 1590, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal nut on the table, making slight positional adjustments to the fingers to establish a secure grip on the object."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and moves it upward to the area above the purple vertical rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal block to align its central opening with the purple vertical rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until the block rests securely on the top surface of the adjacent white block on the wooden stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: retreat: Right hand moves away from the wooden block rack area towards the lower right of the table, remaining empty with slight finger adjustments during movement."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, keeping fingers open while approaching the target."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal nut on the table, adjusting finger positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and transports it upward to the position directly above the purple rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple rod, lowers the nut to fit it onto the rod to complete the mating action."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without obvious movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the purple-topped white cylinder placed on the wooden rack, separating from the cylinder."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves rightward and downward toward the green square block on the table with an open hand posture."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger positions to establish a grasp."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green square block resting on the dark gray table surface with no visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and transports it upward toward the top of the rightmost white bottle placed on the wooden rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_release: Right hand makes small positional adjustments to the green block to align its central hole with the top of the target white bottle, fits the block securely onto the bottle top and opens its fingers to release the block."}], "episode_index": 8}
+{"source_uid": "c2faa7664952659b", "num_frames": 2684, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:open_fingers: Left hand opens its fingers while staying at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the pegboard, with the wrist rotating slightly to face downward."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "d5e17d6c-3e51-4f48-baad-9712394a28e7"}, {"label": "valid", "start_step": 0, "end_step": 2651, "id": "h5IlZeUVKxhTPOagFdNqK"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the pegboard, with the wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 161, "end_step": 385, "id": "3a82e1d9-1b46-4673-8218-57fc5f1e9362"}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the front-left peg of the purple pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the front-left peg of the purple pegboard by lowering and aligning the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left peg of the purple pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base, releasing the ring with fingers opening."}, {"label": "goal", "start_step": 386, "end_step": 480, "id": "11ab6395-4334-4152-a39b-2b045e10cc9c"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the black table surface without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting its fingers to stabilize the grip."}, {"label": "goal", "start_step": 481, "end_step": 670, "id": "a9021541-86d2-45b0-8c29-a27d9e3458cd"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the front-left purple post of the test tube rack."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the front-left purple post of the test tube rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple post without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 671, "end_step": 795, "id": "9f8d44a6-9564-48f0-bf38-3ec0c930d18b"}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 796, "end_step": 965, "id": "b7627775-d3b3-4c6f-b5b0-c38e5c3c29d6"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple rod of the wooden rack, adjusting position to fit onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring block onto the top of the right purple peg and releases it."}, {"label": "goal", "start_step": 966, "end_step": 1070, "id": "d8738bae-f9c2-405a-a976-ee89cbbaba15"}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block above the green block on the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 1071, "end_step": 1225, "id": "7563fdc6-d709-4906-ac9e-25506d345f93"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and leftward to the top of the front purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front purple rod of the wooden rack, lowering the block along the rod until it rests at the bottom."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the rightmost rod of the wooden board and moves downward toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 1226, "end_step": 1350, "id": "d01d95a0-c745-4a2d-a2e9-f203ba3e7a73"}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, closing and adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1351, "end_step": 1545, "id": "d518c343-cdf5-4978-8e11-f9d983ab9d78"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1455, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1546, "end_step": 1635, "id": "60c31026-e0f8-4c37-ac82-acb2abc7a0b9"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block to leave the black table surface."}, {"label": "goal", "start_step": 1636, "end_step": 1870, "id": "35f92906-3911-4efb-bb69-14a1ddcfa564"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward towards the wooden rack with cylindrical posts."}, {"label": "subtasks", "start_step": 1680, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target cylindrical post of the wooden rack, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-right post of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1871, "end_step": 1990, "id": "a62b29c9-2820-4e23-b4e6-912d239d58a8"}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1935, "end_step": 2001, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table near the wooden base, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1991, "end_step": 2090, "id": "7a3a8d83-72b3-4978-8d71-1b0ac8be0661"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward to above the purple rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the purple small component onto the front-right column of the wooden base and releases its grip."}, {"label": "goal", "start_step": 2091, "end_step": 2185, "id": "b7c0d6b0-286c-4394-bb97-36654ec04f96"}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part at the right lower area of the table without moving."}, {"label": "goal", "start_step": 2186, "end_step": 2340, "id": "c34a34ce-621c-4470-9a02-db5934435e75"}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2235, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod by aligning the hole and inserting it downward onto the rod."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with a purple rod at the rightmost bottom slot of the wooden base, fingers open to separate from the bottle."}, {"label": "goal", "start_step": 2341, "end_step": 2450, "id": "19673f44-1cda-43c1-80d6-650329bc81f6"}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table with empty hand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the green square block on the black table without moving."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table, fingers close around the block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green block off the table surface."}, {"label": "goal", "start_step": 2451, "end_step": 2610, "id": "160ff93e-e644-4d1d-89cd-aa57e2a7cf99"}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftwards and upwards towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white cylinder with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the rightmost white cylinder without moving."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightwards and upwards away from the wooden rack."}, {"label": "home", "start_step": 2652, "end_step": 2683, "id": "czih6u58l5YI3my3Ybw3Y"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:open_fingers: Left hand opens its fingers while staying at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the pegboard, with the wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the pegboard, with the wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the front-left peg of the purple pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the front-left peg of the purple pegboard by lowering and aligning the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left peg of the purple pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base, releasing the ring with fingers opening."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the black table surface without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting its fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the front-left purple post of the test tube rack."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the front-left purple post of the test tube rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple post without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple rod of the wooden rack, adjusting position to fit onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring block onto the top of the right purple peg and releases it."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block above the green block on the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and leftward to the top of the front purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front purple rod of the wooden rack, lowering the block along the rod until it rests at the bottom."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the rightmost rod of the wooden board and moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, closing and adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1455, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block to leave the black table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward towards the wooden rack with cylindrical posts."}, {"label": "subtasks", "start_step": 1680, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target cylindrical post of the wooden rack, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-right post of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1935, "end_step": 2001, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table near the wooden base, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward to above the purple rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the purple small component onto the front-right column of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part at the right lower area of the table without moving."}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2235, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod by aligning the hole and inserting it downward onto the rod."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with a purple rod at the rightmost bottom slot of the wooden base, fingers open to separate from the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table with empty hand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the green square block on the black table without moving."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table, fingers close around the block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green block off the table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftwards and upwards towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white cylinder with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the rightmost white cylinder without moving."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightwards and upwards away from the wooden rack."}], "episode_index": 9}
+{"source_uid": "0a6957b097c7564c", "num_frames": 2470, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture at the left side of the table, with fingers extending slightly forward. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "28f5f6bd-635a-4e09-8f0b-724ef3140f60"}, {"label": "valid", "start_step": 0, "end_step": 2441, "id": "y-BnEIJtIVgqAzAXG4g-q"}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 52, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers adjust to form a stable grasp on the block."}, {"label": "goal", "start_step": 146, "end_step": 295, "id": "3d7843c2-dfcf-40a6-b255-934eac7b4ffd"}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base by inserting the block onto the peg."}, {"label": "goal", "start_step": 296, "end_step": 405, "id": "6275bff6-c2cf-4f48-b88f-cefd5de02423"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base on the table and transports it towards the purple rod on the test tube rack."}, {"label": "goal", "start_step": 406, "end_step": 545, "id": "918cbd8a-938d-498b-ae2d-d63938daa9fe"}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 546, "end_step": 635, "id": "c028ff06-5653-4526-8597-413ddba18b2c"}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 636, "end_step": 775, "id": "640c018f-f4e2-4232-b217-7f48b13a67f4"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base, until the block is stably supported."}, {"label": "goal", "start_step": 776, "end_step": 890, "id": "2fc73f1c-927e-42eb-9b6d-d3d6e66c7e9a"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "goal", "start_step": 891, "end_step": 1015, "id": "40c04d97-1a17-4657-b6c9-87eb157dd450"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: transport: Right hand transports the white cylindrical object above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand gradually opens its fingers to release the white cylindrical object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1016, "end_step": 1125, "id": "836e8fa6-bfc0-4723-946f-4fb55b11c6db"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the target post on the wooden rack."}, {"label": "goal", "start_step": 1126, "end_step": 1375, "id": "fb2d8a0f-5b1b-42cc-8b76-4b6a1cdfa1ef"}, {"label": "subtasks", "start_step": 1155, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the green block with the target post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: press: Right hand presses the green block onto the peg on the wooden tray."}, {"label": "goal", "start_step": 1376, "end_step": 1460, "id": "d8184d67-7869-4d5e-905b-92e7fe93df6c"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1461, "end_step": 1655, "id": "b28f2a0f-115b-438d-8159-f42f319f2a11"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the wooden rack with posts."}, {"label": "subtasks", "start_step": 1515, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the target post on the wooden rack and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the wooden base, fingers open and move away from the cylinder."}, {"label": "goal", "start_step": 1656, "end_step": 1780, "id": "9216d049-507b-4985-b0cb-adbbc5ecd068"}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1799, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts finger posture to approach and prepare grasping the white ring on the black table."}, {"label": "goal", "start_step": 1781, "end_step": 1940, "id": "bb7ca8f8-13b4-4d88-8477-14a9c17cdcde"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 1941, "end_step": 2010, "id": "f44ed67f-860c-4a4e-b312-6b0f4f888ca7"}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal object on the black tabletop."}, {"label": "goal", "start_step": 2011, "end_step": 2120, "id": "1675f269-296b-4d07-9e76-d2b3ed5695ad"}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: press: Right hand presses the white cylindrical block on the wooden base to push it down."}, {"label": "goal", "start_step": 2121, "end_step": 2220, "id": "d8737322-dbf1-4bd6-8826-dbc017a563d0"}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden base toward the green square block on the table."}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the black table."}, {"label": "goal", "start_step": 2221, "end_step": 2385, "id": "234fb44d-eb5a-46ca-bff8-6e9a95419ae7"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it to above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the green cube with the top opening of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place_press: Right hand places the green cube onto the rightmost white bottle and presses it down to fit tightly on the bottle."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the green cube by opening its fingers, leaving the cube fitted on the white bottle."}, {"label": "home", "start_step": 2442, "end_step": 2469, "id": "5HS1l3nCXZ8NWLB96FctF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture at the left side of the table, with fingers extending slightly forward. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 52, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base by inserting the block onto the peg."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base on the table and transports it towards the purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base, until the block is stably supported."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: transport: Right hand transports the white cylindrical object above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand gradually opens its fingers to release the white cylindrical object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the target post on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the green block with the target post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: press: Right hand presses the green block onto the peg on the wooden tray."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the wooden rack with posts."}, {"label": "subtasks", "start_step": 1515, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the target post on the wooden rack and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the wooden base, fingers open and move away from the cylinder."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1799, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts finger posture to approach and prepare grasping the white ring on the black table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: press: Right hand presses the white cylindrical block on the wooden base to push it down."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden base toward the green square block on the table."}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the black table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it to above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the green cube with the top opening of the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place_press: Right hand places the green cube onto the rightmost white bottle and presses it down to fit tightly on the bottle."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the green cube by opening its fingers, leaving the cube fitted on the white bottle."}], "episode_index": 10}
+{"source_uid": "072fb3360647dfd8", "num_frames": 2534, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: idle: Right hand remains empty at the right home position with no obvious positional movement, only minor initial finger adjustment."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "88a280dc-c54e-4c35-ae17-a1e2ef711159"}, {"label": "valid", "start_step": 0, "end_step": 2505, "id": "QvGUM_5NReEOAolPDMiCJ"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal nut on the black table surface to form a grip."}, {"label": "goal", "start_step": 161, "end_step": 315, "id": "5ee53737-5842-47bc-a0af-6591e01ff018"}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and transports it to a position directly above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 218, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block fitted onto the purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 316, "end_step": 410, "id": "5274e5d3-ded7-4b49-9e88-369dd0b82ea1"}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand contacts the white hexagonal nut, closing fingers and adjusting positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand moves the grasped white hexagonal nut upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand holds the lifted white hexagonal nut and continues moving it upward through the air."}, {"label": "goal", "start_step": 411, "end_step": 555, "id": "6efb6320-c6d3-409f-a5ee-72660b88a28e"}, {"label": "subtasks", "start_step": 420, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully raising it off the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden stand and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the object."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal nut on the black table surface, with fingers held in a slightly spread posture."}, {"label": "goal", "start_step": 556, "end_step": 660, "id": "5f2ba25c-111a-4e70-b691-b711a90a0a63"}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the black table, adjusting finger contact positions to form a grip, with the nut remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand firmly holds the white hexagonal nut and lifts it upward until the nut is completely separated from the table surface."}, {"label": "goal", "start_step": 661, "end_step": 815, "id": "04af1265-aec9-412e-a493-ed470624a70d"}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it directly above the target cylindrical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target peg, and moves the nut downward slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the target peg without any observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut and moves it downward further to fit it more securely onto the target peg."}, {"label": "subtasks", "start_step": 810, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut in front of the wooden assembly base, with fingers extended during the approach."}, {"label": "goal", "start_step": 816, "end_step": 915, "id": "5bd85b7c-848f-4733-88e7-d183fc4fa169"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut to establish a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, and lifts the nut upward until it is fully separated from the table surface."}, {"label": "goal", "start_step": 916, "end_step": 1140, "id": "f68afc89-1045-497f-8881-e31d040def5f"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it upward and toward the purple vertical rod on the wooden block assembly until the nut is positioned directly above the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, and slides the nut downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, and moves the fingers away from the nut surface."}, {"label": "goal", "start_step": 1141, "end_step": 1255, "id": "50fdebfb-bede-4904-a2bb-4d500bb625e3"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the table surface, staying empty and not contacting any object during movement."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand contacts the green hexagonal block, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "goal", "start_step": 1256, "end_step": 1385, "id": "ccc016c6-1695-4c12-91b6-cdd1eb721885"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod and moves the block downward to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "goal", "start_step": 1386, "end_step": 1525, "id": "1d2e1e1a-67d2-4493-a021-1370b0aa1101"}, {"label": "subtasks", "start_step": 1425, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a grip on the white hexagonal nut resting on the black table."}, {"label": "goal", "start_step": 1526, "end_step": 1645, "id": "d09b10e5-7df7-4954-a7fa-d5c5863ca5af"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal block to align its central hole with the purple peg, lowers the block to fit onto the peg, and makes small finger adjustments to seat the block securely on the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand releases the white cylindrical component on the wooden block tray, with fingers opening and lifting away from the component."}, {"label": "goal", "start_step": 1646, "end_step": 1755, "id": "40b66df2-dead-4de3-87d6-f8f8317cdd64"}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves empty downward from above the wooden tray toward the small white hexagonal nut on the table to the right front of the tray, without making contact with the nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut, with fingers closing and adjusting positions to establish a grasp on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden block."}, {"label": "goal", "start_step": 1756, "end_step": 1885, "id": "c3a3744a-32f2-4025-a1e0-a3b9c0e18222"}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes small positional adjustments to align the held white hexagonal nut with the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: place: Right hand lowers the aligned white hexagonal nut down onto the purple rod until the nut rests stably on the wooden block surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves diagonally down and right away from the stacked block assembly toward the white hexagonal nut on the dark table surface, with fingers held in a slightly extended open posture."}, {"label": "goal", "start_step": 1886, "end_step": 1970, "id": "78a70947-7f53-4d51-8e36-ea23f6691ceb"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, fingers flex and close around the nut with minor adjustments to establish a secure hold."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface next to the green block without moving."}, {"label": "goal", "start_step": 1971, "end_step": 2145, "id": "67461035-5e3a-46e9-bd01-9cd58af90df6"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit over the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden block rack without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens fingers to release the purple-capped white bottle on the wooden rack."}, {"label": "goal", "start_step": 2146, "end_step": 2270, "id": "ffd57d7c-a9ad-4557-864a-cb999a6ba13c"}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward toward the small green cube on the table with an open hand."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the small green cube on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the small green cube on the table surface without visible movement."}, {"label": "goal", "start_step": 2271, "end_step": 2440, "id": "49da8446-1eb7-4894-88a2-1f6f312a3041"}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand lifts the green square block upwards, completely separating it from the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the green square block through the air, moving it to the position directly above the purple rod on the bottle rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2444, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: place_release: Right hand lowers the green square block downwards to align its central hole with the purple rod, places the block stably on the top of the underlying white bottle, opens fingers to release grip on the block."}, {"label": "home", "start_step": 2506, "end_step": 2533, "id": "t8wmc9VATximeYFr5XsKG"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: idle: Right hand remains empty at the right home position with no obvious positional movement, only minor initial finger adjustment."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal nut on the black table surface to form a grip."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and transports it to a position directly above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 218, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block fitted onto the purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand contacts the white hexagonal nut, closing fingers and adjusting positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand moves the grasped white hexagonal nut upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand holds the lifted white hexagonal nut and continues moving it upward through the air."}, {"label": "subtasks", "start_step": 420, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully raising it off the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden stand and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the object."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal nut on the black table surface, with fingers held in a slightly spread posture."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the black table, adjusting finger contact positions to form a grip, with the nut remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand firmly holds the white hexagonal nut and lifts it upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it directly above the target cylindrical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target peg, and moves the nut downward slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the target peg without any observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut and moves it downward further to fit it more securely onto the target peg."}, {"label": "subtasks", "start_step": 810, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut in front of the wooden assembly base, with fingers extended during the approach."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut to establish a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, and lifts the nut upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it upward and toward the purple vertical rod on the wooden block assembly until the nut is positioned directly above the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, and slides the nut downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, and moves the fingers away from the nut surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the table surface, staying empty and not contacting any object during movement."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand contacts the green hexagonal block, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod and moves the block downward to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1425, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a grip on the white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal block to align its central hole with the purple peg, lowers the block to fit onto the peg, and makes small finger adjustments to seat the block securely on the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand releases the white cylindrical component on the wooden block tray, with fingers opening and lifting away from the component."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves empty downward from above the wooden tray toward the small white hexagonal nut on the table to the right front of the tray, without making contact with the nut."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut, with fingers closing and adjusting positions to establish a grasp on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes small positional adjustments to align the held white hexagonal nut with the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: place: Right hand lowers the aligned white hexagonal nut down onto the purple rod until the nut rests stably on the wooden block surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves diagonally down and right away from the stacked block assembly toward the white hexagonal nut on the dark table surface, with fingers held in a slightly extended open posture."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, fingers flex and close around the nut with minor adjustments to establish a secure hold."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface next to the green block without moving."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit over the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden block rack without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens fingers to release the purple-capped white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward toward the small green cube on the table with an open hand."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the small green cube on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the small green cube on the table surface without visible movement."}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand lifts the green square block upwards, completely separating it from the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the green square block through the air, moving it to the position directly above the purple rod on the bottle rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2444, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: place_release: Right hand lowers the green square block downwards to align its central hole with the purple rod, places the block stably on the top of the underlying white bottle, opens fingers to release grip on the block."}], "episode_index": 11}
+{"source_uid": "8398cfe35a3beca8", "num_frames": 2959, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts its fingers from a vertically closed posture to an open spread posture, with no obvious arm displacement, remaining empty at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the upper-left green hexagonal block, with wrist rotating slightly to face downward, remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "941aad02-d9df-4d12-8eff-2e03d9086abe"}, {"label": "valid", "start_step": 0, "end_step": 2938, "id": "cG6Hh_sGpIF8ORn0XpjWd"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the upper-left green hexagonal block, with wrist rotating slightly to face downward, remaining empty."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the upper-left green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the upper-left green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift: Right hand lifts the wooden pegboard upwards from the table, with hexagonal blocks under it falling onto the table surface."}, {"label": "goal", "start_step": 136, "end_step": 320, "id": "98b5dc49-891b-48f5-a3f4-d2ca18a88a38"}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand fits the green hexagonal block onto the leftmost purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the wooden pegboard with the assembled green block in the air without moving."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: place: Right hand places the wooden pegboard back onto the table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward from the peg assembly area to approach the leftmost white hexagonal object on the table."}, {"label": "goal", "start_step": 321, "end_step": 390, "id": "764cef76-32fa-4752-9315-b6ace3a600c9"}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the leftmost white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "goal", "start_step": 391, "end_step": 545, "id": "3a7ee7e0-d003-46e0-8bd9-102c9d2c5154"}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the position above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 420, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple post by lowering and adjusting it to fit onto the post."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden rack, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 546, "end_step": 670, "id": "fd1f8b76-b943-4f78-a2bb-72132cdeb948"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: idle: Right hand remains empty near the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 671, "end_step": 980, "id": "4bf37d1f-2978-43e7-b925-a3d6f9547232"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 712, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod of the front-left test tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the front-left test tube rod without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white ring onto the top of the rightmost purple peg on the wooden board."}, {"label": "goal", "start_step": 981, "end_step": 1090, "id": "4d6da194-5ee9-4c2f-ac18-2deee1257324"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the table below the wooden board."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 1091, "end_step": 1485, "id": "3b51e874-e45b-4ce6-8340-b5ce891920b1"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1297, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg by aligning the block's hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 1298, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple rod and releases it."}, {"label": "goal", "start_step": 1486, "end_step": 1585, "id": "a7fcbbf2-80bb-4c76-acca-c5d067ce682c"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1586, "end_step": 1870, "id": "2b229acb-247e-47fa-8124-e1c3aa19fdda"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to the position above the middle peg on the wooden rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1791, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_press: Right hand aligns the green hexagonal block with the middle peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening until separated from the block."}, {"label": "goal", "start_step": 1871, "end_step": 1990, "id": "bad64397-d998-4651-8bb1-0e9cd6c0ff6c"}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: retreat: Right hand moves downward away from the wooden block base, empty."}, {"label": "subtasks", "start_step": 1912, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: idle: Right hand remains empty near the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal part on the right table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "goal", "start_step": 1991, "end_step": 2175, "id": "493917bf-f9f6-4ace-b52a-769cfa8af42c"}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2018, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod on the wooden rack, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: retreat: Right hand retreats upward away from the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward from the wooden block base area toward the upper white hexagonal ring on the black table surface, with fingers open."}, {"label": "goal", "start_step": 2176, "end_step": 2265, "id": "393f6194-ab0d-4e6a-a2a5-87999fec2895"}, {"label": "subtasks", "start_step": 2212, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers gradually closing and adjusting grip around the ring."}, {"label": "goal", "start_step": 2266, "end_step": 2395, "id": "725d2087-dfd3-4fe7-8351-809fd759eb35"}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple rod by lowering it to fit the rod through the piece's hole."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 2396, "end_step": 2495, "id": "aed87334-c467-453d-8dc9-25723f344e42"}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 2490, "end_step": 2534, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white ring-shaped object from the black table surface and transports it towards the purple rod on the middle wooden base."}, {"label": "goal", "start_step": 2496, "end_step": 2640, "id": "0d249947-7026-4eeb-8b3a-5c80cdfc78c8"}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white ring-shaped object with the purple rod by aligning the rod with the ring's central hole and placing it onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2639, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white ring-shaped object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: press: Right hand presses the purple cap onto the rightmost bottom bottle on the wooden rack."}, {"label": "goal", "start_step": 2641, "end_step": 2770, "id": "0a620e27-3093-4ad2-8014-131c0c27f919"}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release_reach: Right hand releases the purple cap while moving toward the green cubic block on the right lower part of the table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the green cubic block on the right lower part of the table without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green block on the right side of the table, with fingers adjusting to form a stable grip while the block rests on the table surface."}, {"label": "goal", "start_step": 2771, "end_step": 2895, "id": "a1eb66f0-5dce-4a4c-bac6-88d71e2f70b3"}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the rightmost cylinder of the block set on the wooden base."}, {"label": "subtasks", "start_step": 2805, "end_step": 2894, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder's post and fits it down onto the post to complete assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "home", "start_step": 2939, "end_step": 2958, "id": "WPZzd_j1XlkhN09IkSM7w"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts its fingers from a vertically closed posture to an open spread posture, with no obvious arm displacement, remaining empty at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the upper-left green hexagonal block, with wrist rotating slightly to face downward, remaining empty."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the upper-left green hexagonal block, with wrist rotating slightly to face downward, remaining empty."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the upper-left green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the upper-left green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift: Right hand lifts the wooden pegboard upwards from the table, with hexagonal blocks under it falling onto the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand fits the green hexagonal block onto the leftmost purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the wooden pegboard with the assembled green block in the air without moving."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: place: Right hand places the wooden pegboard back onto the table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward from the peg assembly area to approach the leftmost white hexagonal object on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the leftmost white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the position above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 420, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple post by lowering and adjusting it to fit onto the post."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden rack, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: idle: Right hand remains empty near the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 712, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod of the front-left test tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the front-left test tube rod without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white ring onto the top of the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the table below the wooden board."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1297, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg by aligning the block's hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 1298, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple rod and releases it."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to the position above the middle peg on the wooden rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1791, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_press: Right hand aligns the green hexagonal block with the middle peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening until separated from the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: retreat: Right hand moves downward away from the wooden block base, empty."}, {"label": "subtasks", "start_step": 1912, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: idle: Right hand remains empty near the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal part on the right table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2018, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod on the wooden rack, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white hexagonal part on the purple rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: retreat: Right hand retreats upward away from the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward from the wooden block base area toward the upper white hexagonal ring on the black table surface, with fingers open."}, {"label": "subtasks", "start_step": 2212, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers gradually closing and adjusting grip around the ring."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple rod by lowering it to fit the rod through the piece's hole."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 2490, "end_step": 2534, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white ring-shaped object from the black table surface and transports it towards the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white ring-shaped object with the purple rod by aligning the rod with the ring's central hole and placing it onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2639, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white ring-shaped object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: press: Right hand presses the purple cap onto the rightmost bottom bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release_reach: Right hand releases the purple cap while moving toward the green cubic block on the right lower part of the table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the green cubic block on the right lower part of the table without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green block on the right side of the table, with fingers adjusting to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the rightmost cylinder of the block set on the wooden base."}, {"label": "subtasks", "start_step": 2805, "end_step": 2894, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder's post and fits it down onto the post to complete assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}], "episode_index": 12}
+{"source_uid": "f7c709e4dbe74f36", "num_frames": 2946, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture and position at the left side of the operating area, remaining empty. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "6985398f-07ba-45a9-b320-e59022010db6"}, {"label": "valid", "start_step": 0, "end_step": 2922, "id": "FU8nVwYDJ4sO9DhlXNsro"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand approaches the green hexagonal block, fingers close to establish grasp, with slight hand posture adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 156, "end_step": 315, "id": "baf331c3-a69d-47c1-87b1-c3c921644b91"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the green hexagonal block with the purple post by fitting it down onto the post."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the green hexagonal block and separates from it."}, {"label": "goal", "start_step": 316, "end_step": 400, "id": "1b81be28-bd99-474e-8ac1-0b86f850931a"}, {"label": "subtasks", "start_step": 330, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: pull: Right hand pulls the wooden base with assembled white cylindrical blocks towards the operator."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 352, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 401, "end_step": 510, "id": "008ac7bd-4c00-4e1e-8ab3-28cb03998267"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple column on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal nut with the purple column, aligns and inserts it down onto the column."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal nut, fingers open to separate from the nut."}, {"label": "goal", "start_step": 511, "end_step": 615, "id": "87e11b9b-df3e-47c2-b9db-6e57bdaf20d1"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 616, "end_step": 770, "id": "ffb2ee0f-faa9-46fe-b22b-3856387238ac"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the white hexagonal nut towards the purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 712, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 771, "end_step": 910, "id": "80688ff4-e8d9-4d03-ae91-1510436b1130"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts its fingers to form stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the purple rod on the wooden base."}, {"label": "goal", "start_step": 911, "end_step": 1080, "id": "667fabfa-9c25-4f2c-91f5-6d2ae23bfe80"}, {"label": "subtasks", "start_step": 930, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal block which is already fitted onto the purple rod."}, {"label": "goal", "start_step": 1081, "end_step": 1215, "id": "d9605c91-5693-476c-b772-dff987ec7a7e"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward from the wooden peg set toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand touches the green hexagonal block, adjusts fingers to form a stable grasp on the block."}, {"label": "goal", "start_step": 1216, "end_step": 1580, "id": "301dd096-0898-4d07-a0ad-cf932ef6fac9"}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base, aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in position."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases its grip on the green hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the green block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1581, "end_step": 1700, "id": "2ecb91ed-299c-41ea-8aa4-ec9be79af783"}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface."}, {"label": "goal", "start_step": 1701, "end_step": 1905, "id": "6d282c85-328e-493e-bb81-53ec04faa560"}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1770, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1898, "end_step": 1904, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base and releases the block."}, {"label": "goal", "start_step": 1906, "end_step": 2040, "id": "df77e45d-119b-476f-82bb-d4b63896193e"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table."}, {"label": "goal", "start_step": 2041, "end_step": 2355, "id": "a3445c88-f2d8-4b88-adbf-ef4a7d8bbb29"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white hexagonal block on the top of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2130, "end_step": 2279, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: idle: Right hand remains empty at the right side of the wooden tray without moving."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 2356, "end_step": 2455, "id": "690ed48c-e1dd-4e66-8315-405cafec0e97"}, {"label": "subtasks", "start_step": 2385, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "goal", "start_step": 2456, "end_step": 2605, "id": "723a13fa-afbd-4790-bc81-4d5a96de73f6"}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the test tube with a purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal ring onto the test tube with the purple rod, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 2595, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white cylinder with purple rod on the wooden base downward."}, {"label": "goal", "start_step": 2606, "end_step": 2715, "id": "0a2cc875-163d-49c4-989b-24d67839874c"}, {"label": "subtasks", "start_step": 2632, "end_step": 2654, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hollow block on the table."}, {"label": "subtasks", "start_step": 2715, "end_step": 2737, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: hold: Right hand holds the green square block on the black table without moving."}, {"label": "goal", "start_step": 2716, "end_step": 2880, "id": "c8146dc6-feaa-4629-9d3a-5e96d38216ba"}, {"label": "subtasks", "start_step": 2738, "end_step": 2759, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it towards the white bottle group on the wooden tray."}, {"label": "subtasks", "start_step": 2760, "end_step": 2879, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the green square block onto the top of the target white bottle on the wooden tray, adjusting to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2880, "end_step": 2894, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the green square block that is fitted on the white bottle."}, {"label": "home", "start_step": 2923, "end_step": 2945, "id": "KTx1U7wn4MuFyXAu5gbwI"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture and position at the left side of the operating area, remaining empty. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand approaches the green hexagonal block, fingers close to establish grasp, with slight hand posture adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the green hexagonal block with the purple post by fitting it down onto the post."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the green hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 330, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: pull: Right hand pulls the wooden base with assembled white cylindrical blocks towards the operator."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 352, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple column on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal nut with the purple column, aligns and inserts it down onto the column."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal nut, fingers open to separate from the nut."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the white hexagonal nut towards the purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 712, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts its fingers to form stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal block which is already fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward from the wooden peg set toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand touches the green hexagonal block, adjusts fingers to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base, aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in position."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases its grip on the green hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the green block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1770, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1898, "end_step": 1904, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white hexagonal block on the top of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2130, "end_step": 2279, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: idle: Right hand remains empty at the right side of the wooden tray without moving."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the test tube with a purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal ring onto the test tube with the purple rod, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 2595, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white cylinder with purple rod on the wooden base downward."}, {"label": "subtasks", "start_step": 2632, "end_step": 2654, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hollow block on the table."}, {"label": "subtasks", "start_step": 2715, "end_step": 2737, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: hold: Right hand holds the green square block on the black table without moving."}, {"label": "subtasks", "start_step": 2738, "end_step": 2759, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it towards the white bottle group on the wooden tray."}, {"label": "subtasks", "start_step": 2760, "end_step": 2879, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the green square block onto the top of the target white bottle on the wooden tray, adjusting to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2880, "end_step": 2894, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the green square block that is fitted on the white bottle."}], "episode_index": 13}
+{"source_uid": "7203bc438396d749", "num_frames": 2819, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves diagonally left-down from its initial right-side position toward the green hexagonal nut placed in front-left of the wooden block assembly, with fingers partially open, approaching the target without making contact."}, {"label": "goal", "start_step": 0, "end_step": 175, "id": "698fbf26-e548-461b-9935-3c51fbae8ad7"}, {"label": "valid", "start_step": 0, "end_step": 2790, "id": "LPTUuCmoXju9ZJ1ZZGrpw"}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the black table surface, closes fingers around the nut, and makes small continuous adjustments to finger and wrist positions to form a stable grip, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is completely separated from the black table surface."}, {"label": "goal", "start_step": 176, "end_step": 320, "id": "e78cb1bd-0a40-42d5-bed6-1c914d046f90"}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand carries the airborne green hexagonal block toward the wooden base, positioning the block directly above the target purple rod."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand lowers the green hexagonal block downward along the purple rod until the block rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple rod of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand holds the white cylindrical component, aligns it with and fits it onto the purple post of the wooden assembly base."}, {"label": "goal", "start_step": 321, "end_step": 430, "id": "eda1fd3b-ea69-40b4-803a-6c8001768565"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger contact positions and closes fingers around the white hexagonal block on the table, with continuous minor finger movements to establish a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand holds the white hexagonal nut, moves it upward and toward the wooden peg board to position it directly above the target purple peg."}, {"label": "goal", "start_step": 431, "end_step": 560, "id": "fd69f031-79b5-4ebf-bcdf-3720efc283e0"}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the target purple peg, lowering the nut slightly to engage with the peg."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand lowers the engaged white hexagonal nut along the purple peg until it rests steadily on the green plastic base at the bottom of the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate_release: Right hand aligns and presses the white hexagonal block onto the purple peg of the wooden assembly base, opening fingers to release the assembled block."}, {"label": "goal", "start_step": 561, "end_step": 685, "id": "e3ddc5ac-14cf-4e50-ab5e-8a4cca6eb297"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "goal", "start_step": 686, "end_step": 830, "id": "827512d1-ff9a-41f8-8c48-1e762c601a7d"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 728, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod on the wooden block rack and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut near the assembly base, without touching the nut."}, {"label": "goal", "start_step": 831, "end_step": 920, "id": "7c45f625-8844-4cab-b472-3cd197f1904f"}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand contacts the nearby white hexagonal nut, with fingers adjusting and closing gradually to establish a grip on the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without obvious movement."}, {"label": "goal", "start_step": 921, "end_step": 1090, "id": "246c6a71-ba13-43eb-98f9-a3e2f04bfac8"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 960, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut gradually to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1091, "end_step": 1200, "id": "5b55c41d-df6f-421f-a278-929b3666bfa7"}, {"label": "subtasks", "start_step": 1118, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block, raising the block fully off the dark table surface by the end of the segment."}, {"label": "goal", "start_step": 1201, "end_step": 1335, "id": "eb77b9fb-753e-45ab-9f38-9130afb399c0"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and rightward to position directly above the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand adjusts the green hexagonal block to align its central hole with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod, lowering it until it rests stably on the lower green block already mounted on the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand places the white hexagonal block onto the vertical rod of the stacked block assembly, releasing the block as fingers open."}, {"label": "goal", "start_step": 1336, "end_step": 1410, "id": "b50bc1c2-d3a2-4c67-b2ad-58d6337afe56"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal nut resting on the table near the green block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand closes fingers and adjusts contact points to grasp the white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1555, "id": "1b70260b-6cc9-4948-8173-f23b8ab1e629"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the dark table surface and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut onto the rod, and makes small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the rear peg of the wooden base until the block is stably supported, and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 1556, "end_step": 1665, "id": "af03f113-4cb8-44cb-a574-09e0522d8c73"}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves empty downward and rightward toward the loose white hexagonal block on the table to the right of the wooden base, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger positions to form a stable grip with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand holds the white hexagonal nut and transports it from the upper right area above the table to directly above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1666, "end_step": 1840, "id": "f748c1e7-2983-417d-8f2b-9cde7d3d39f0"}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens the fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "goal", "start_step": 1841, "end_step": 1935, "id": "050910d1-0b13-428c-b0dd-443b85b97d9d"}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: idle: Right hand remains empty, held stationary above the wooden block rack without contacting any objects."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from above the block rack toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: idle: Right hand remains empty, positioned stationary directly above the white hexagonal nut without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand moves slightly downward to the white hexagonal nut, fingers closing around the nut to establish a grip."}, {"label": "goal", "start_step": 1936, "end_step": 2075, "id": "358414d8-5154-4cd3-b900-d3edc83aae90"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white cylindrical block seated in the wooden organizer, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 2076, "end_step": 2180, "id": "82c6a31f-1eba-41fc-8892-8b51641ebef4"}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand lowers the white hexagonal nut into the aligned empty slot on the wooden rack and releases its grip, leaving the nut supported by the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white cylindrical block seated in the wooden organizer, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small green cubic block on the dark table surface with fingers held open."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts its wrist and finger positions, closing fingers around the small green cubic block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the green holed block from the dark table surface and transports it upward to the position directly above the target white bottle on the wooden rack."}, {"label": "goal", "start_step": 2181, "end_step": 2745, "id": "6248ed46-afeb-4d48-a8a4-87fd01aa8667"}, {"label": "subtasks", "start_step": 2220, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to the green block to align its central hole with the purple stem on the target bottle, gradually fitting the block onto the stem."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand lowers the green block along the purple stem to place it on the top of the target bottle where it is supported, then opens fingers to release the block."}, {"label": "home", "start_step": 2791, "end_step": 2818, "id": "uB40OGfAWUHP9o4bk_NBZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves diagonally left-down from its initial right-side position toward the green hexagonal nut placed in front-left of the wooden block assembly, with fingers partially open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the black table surface, closes fingers around the nut, and makes small continuous adjustments to finger and wrist positions to form a stable grip, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand carries the airborne green hexagonal block toward the wooden base, positioning the block directly above the target purple rod."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand lowers the green hexagonal block downward along the purple rod until the block rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple rod of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand holds the white cylindrical component, aligns it with and fits it onto the purple post of the wooden assembly base."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger contact positions and closes fingers around the white hexagonal block on the table, with continuous minor finger movements to establish a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand holds the white hexagonal nut, moves it upward and toward the wooden peg board to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the target purple peg, lowering the nut slightly to engage with the peg."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand lowers the engaged white hexagonal nut along the purple peg until it rests steadily on the green plastic base at the bottom of the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate_release: Right hand aligns and presses the white hexagonal block onto the purple peg of the wooden assembly base, opening fingers to release the assembled block."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 728, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod on the wooden block rack and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut near the assembly base, without touching the nut."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand contacts the nearby white hexagonal nut, with fingers adjusting and closing gradually to establish a grip on the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without obvious movement."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 960, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut gradually to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block, raising the block fully off the dark table surface by the end of the segment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and rightward to position directly above the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand adjusts the green hexagonal block to align its central hole with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod, lowering it until it rests stably on the lower green block already mounted on the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand places the white hexagonal block onto the vertical rod of the stacked block assembly, releasing the block as fingers open."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal nut resting on the table near the green block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand closes fingers and adjusts contact points to grasp the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the dark table surface and moves it upward to position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut onto the rod, and makes small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the rear peg of the wooden base until the block is stably supported, and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves empty downward and rightward toward the loose white hexagonal block on the table to the right of the wooden base, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger positions to form a stable grip with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand holds the white hexagonal nut and transports it from the upper right area above the table to directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens the fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: idle: Right hand remains empty, held stationary above the wooden block rack without contacting any objects."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from above the block rack toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: idle: Right hand remains empty, positioned stationary directly above the white hexagonal nut without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand moves slightly downward to the white hexagonal nut, fingers closing around the nut to establish a grip."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white cylindrical block seated in the wooden organizer, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand lowers the white hexagonal nut into the aligned empty slot on the wooden rack and releases its grip, leaving the nut supported by the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white cylindrical block seated in the wooden organizer, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small green cubic block on the dark table surface with fingers held open."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts its wrist and finger positions, closing fingers around the small green cubic block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the green holed block from the dark table surface and transports it upward to the position directly above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to the green block to align its central hole with the purple stem on the target bottle, gradually fitting the block onto the stem."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand lowers the green block along the purple stem to place it on the top of the target bottle where it is supported, then opens fingers to release the block."}], "episode_index": 14}
+{"source_uid": "deb824644b12a367", "num_frames": 3093, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers: Left hand slightly adjusts its fingers at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "9db2b7cd-247c-4805-a6c2-92889c61977a"}, {"label": "valid", "start_step": 0, "end_step": 3067, "id": "iwC34Qjcp33HKMH9hP1j0"}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 151, "end_step": 275, "id": "f934b846-96f7-4691-bc02-bb462eff9741"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the peg of the assembly rack and releases it."}, {"label": "goal", "start_step": 276, "end_step": 390, "id": "14d7b880-ea38-44af-8dbd-8cb77cc9e3d7"}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without any observable movement."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 391, "end_step": 510, "id": "d5f4e14b-d78c-45e8-832b-7d40ac1cb8dc"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack by aligning and pressing it down."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers to separate from the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 511, "end_step": 625, "id": "762bb36a-b0dd-48a2-8953-55e6d6705bb1"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 626, "end_step": 820, "id": "c56306bd-5ddc-47ff-8959-f0868834fc36"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the test tube rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening from closed position."}, {"label": "goal", "start_step": 821, "end_step": 930, "id": "2e4b9fad-df17-4b6e-9617-ee4885b047a4"}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 931, "end_step": 1085, "id": "9b03db51-dc9b-4f58-8c0f-cdabb34c42a1"}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table, moving downward from the area beside the wooden base."}, {"label": "goal", "start_step": 1086, "end_step": 1165, "id": "d6c818a8-f19b-4af8-8bef-29d4c32f7b36"}, {"label": "subtasks", "start_step": 1118, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1166, "end_step": 1795, "id": "65995ce5-44ca-494e-b799-3551ef089a83"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the area above the pegs on the wooden board."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left peg of the wooden board, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the front-left peg and transports it above the adjacent middle peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the middle peg and transports it above the front-right peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-right peg of the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the front-right peg and transports it above a back peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the back peg of the wooden board."}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the back peg and transports it above the rightmost peg area."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto a peg at the right side of the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and transports it to an adjacent peg position."}, {"label": "subtasks", "start_step": 1628, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the adjacent peg of the wooden board."}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and transports it to another adjacent peg position."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and adjusts its horizontal position."}, {"label": "subtasks", "start_step": 1778, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block back onto the peg of the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1796, "end_step": 1995, "id": "d688e602-c056-42f9-9e7d-59d82f9d5ead"}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves closer to the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table surface and moves it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1996, "end_step": 2150, "id": "621170be-78dd-4502-a930-319842f39787"}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal part with fingers opening to separate from the part."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple peg on the wooden board and releases it."}, {"label": "goal", "start_step": 2151, "end_step": 2255, "id": "88a9ac47-19f3-47d5-b984-67cb61efb88a"}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 2256, "end_step": 2390, "id": "c062a96b-f293-4c1b-8af0-9f12c2e23a2b"}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the upper part of the purple rod without moving."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal block down along the purple rod toward the green block below."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cap onto the top of the rightmost column on the wooden base."}, {"label": "goal", "start_step": 2391, "end_step": 2480, "id": "7f7a4f49-b934-49d6-8b63-511ef31c0081"}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right area of the black table without moving."}, {"label": "goal", "start_step": 2481, "end_step": 2665, "id": "49efc70b-3578-40cf-9b0f-bdaa3464f4d2"}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2654, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod and fits it down onto the rod to form an assembly relation."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white ring down to the bottom of the purple-topped peg on the right side of the wooden base and releases the ring."}, {"label": "goal", "start_step": 2666, "end_step": 2775, "id": "a878ea18-2f72-4fd8-8430-6e2a7cc0ad69"}, {"label": "subtasks", "start_step": 2678, "end_step": 2729, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2774, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring-shaped block from the right table surface and transports it to the upper area of the rightmost front bottle on the wooden rack."}, {"label": "goal", "start_step": 2776, "end_step": 3000, "id": "86fd464a-35fd-4f5b-aa44-f27c9b171fb4"}, {"label": "subtasks", "start_step": 2828, "end_step": 2849, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green ring-shaped block with the purple rod on the rightmost front bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2850, "end_step": 3014, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring-shaped block on the rightmost front bottle without moving."}, {"label": "home", "start_step": 3068, "end_step": 3092, "id": "9cEz8olVOaRt68Onu5kaa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_fingers: Left hand slightly adjusts its fingers at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the left of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the peg of the assembly rack and releases it."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without any observable movement."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack by aligning and pressing it down."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers to separate from the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the test tube rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening from closed position."}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table, moving downward from the area beside the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the area above the pegs on the wooden board."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left peg of the wooden board, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the front-left peg and transports it above the adjacent middle peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the middle peg and transports it above the front-right peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-right peg of the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the front-right peg and transports it above a back peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the back peg of the wooden board."}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the back peg and transports it above the rightmost peg area."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto a peg at the right side of the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and transports it to an adjacent peg position."}, {"label": "subtasks", "start_step": 1628, "end_step": 1671, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the adjacent peg of the wooden board."}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and transports it to another adjacent peg position."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and adjusts its horizontal position."}, {"label": "subtasks", "start_step": 1778, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block back onto the peg of the wooden board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves closer to the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table surface and moves it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal part with fingers opening to separate from the part."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple peg on the wooden board and releases it."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the upper part of the purple rod without moving."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal block down along the purple rod toward the green block below."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cap onto the top of the rightmost column on the wooden base."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right area of the black table without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2654, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod and fits it down onto the rod to form an assembly relation."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white ring down to the bottom of the purple-topped peg on the right side of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 2678, "end_step": 2729, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2774, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring-shaped block from the right table surface and transports it to the upper area of the rightmost front bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2828, "end_step": 2849, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green ring-shaped block with the purple rod on the rightmost front bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2850, "end_step": 3014, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring-shaped block on the rightmost front bottle without moving."}], "episode_index": 15}
+{"source_uid": "477dcf60e9b93f94", "num_frames": 2812, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table near the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "f7946b39-577b-4ae4-b54e-0808d8b18cfe"}, {"label": "valid", "start_step": 0, "end_step": 2786, "id": "WSEBIsYaVNLuBQFTt2687"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table near the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers and adjusts to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 171, "end_step": 315, "id": "9dffb4b8-6f9d-4f06-9f99-3dc8046a5f03"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it above the target purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the target purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block mated on the purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 316, "end_step": 440, "id": "1744ba15-7b31-4b5e-adfc-462baf001687"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the green block on the table, no contact made yet."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 441, "end_step": 590, "id": "8c4a03d8-4c2a-4d9b-87c1-fb66b1fc409f"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the top left purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the top left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden block assembly rack towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 591, "end_step": 705, "id": "80a149b1-d7f7-4b13-bf71-322e11627628"}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 706, "end_step": 990, "id": "603c25f9-e1c2-4b6a-9c4c-a067990036be"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 750, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the target purple rod on the wooden rack and releases the block after proper fitting."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 991, "end_step": 1110, "id": "aca4f6c2-02a4-403b-8c66-092448eba414"}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple peg on the wooden rack."}, {"label": "goal", "start_step": 1111, "end_step": 1265, "id": "32fe7285-a7a5-4fa4-b555-8407821ce22f"}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple peg and retreats upward slightly."}, {"label": "goal", "start_step": 1266, "end_step": 1355, "id": "fc860ae0-7b5c-4eca-8184-ad1567a7c5eb"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the block assembly rack towards the green square block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table, with slight grip adjustment movements."}, {"label": "goal", "start_step": 1356, "end_step": 1525, "id": "8fe7bd01-5f14-4cd1-b9a2-19548dc37c1b"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and moves it towards the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green cubic block with the white peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the gray cylindrical part placed on the wooden base."}, {"label": "goal", "start_step": 1526, "end_step": 1630, "id": "15111864-77e2-4066-a815-ac284d7f865b"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1631, "end_step": 1895, "id": "d6243342-201f-4fbf-abbb-7974eb2c9c4f"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the green cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the top of the green cylinder."}, {"label": "subtasks", "start_step": 1702, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand adjusts the white hexagonal block to align with and fit onto the green cylinder to complete assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white sleeve onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1896, "end_step": 1995, "id": "26171238-5f25-4bcc-9be6-4ee2c134e469"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to prepare grasping the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1996, "end_step": 2155, "id": "952fecb2-53e2-4eb4-ab5e-7eb8a3a4ec05"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2156, "end_step": 2240, "id": "9bc55af1-721e-4f0b-a7df-ea1ac1f2ffa9"}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand fingers close to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 2241, "end_step": 2420, "id": "792ea720-6f13-4f7c-ab12-7842395dd667"}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hollow block with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the small protrusion on the top of the bottom right white cylinder on the wooden base."}, {"label": "goal", "start_step": 2421, "end_step": 2555, "id": "99a55c9f-c9ce-42a7-9d65-be93dd030ec3"}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand approaches the green block, fingers close to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the black table surface."}, {"label": "goal", "start_step": 2556, "end_step": 2740, "id": "6fb4e842-fcf6-4837-8f32-4b6355264ea5"}, {"label": "subtasks", "start_step": 2565, "end_step": 2601, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2602, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the rightmost white bottle by aligning and inserting it onto the bottle."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the green block which is fitted onto the white bottle."}, {"label": "home", "start_step": 2787, "end_step": 2811, "id": "Lrfcora2Rhlpv89PS7vHP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table near the wooden rack."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table near the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers and adjusts to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it above the target purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the target purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block mated on the purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the green block on the table, no contact made yet."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the top left purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the top left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden block assembly rack towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 750, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the target purple rod on the wooden rack and releases the block after proper fitting."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple peg and retreats upward slightly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the block assembly rack towards the green square block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table, with slight grip adjustment movements."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and moves it towards the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1514, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green cubic block with the white peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the gray cylindrical part placed on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the green cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the top of the green cylinder."}, {"label": "subtasks", "start_step": 1702, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand adjusts the white hexagonal block to align with and fit onto the green cylinder to complete assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white sleeve onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to prepare grasping the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand fingers close to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hollow block with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the small protrusion on the top of the bottom right white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand approaches the green block, fingers close to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the black table surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2601, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2602, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the rightmost white bottle by aligning and inserting it onto the bottle."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the green block which is fitted onto the white bottle."}], "episode_index": 16}
+{"source_uid": "c91ed9f148161b43", "num_frames": 3153, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial left-side position to the left home position in front of the body, with fingers slightly adjusting to a relaxed curved posture. | Right hand: reach: Right hand moves empty from its initial right upper position down and left toward the green hexagonal block on the table in front of the wooden peg stand, with fingers extended, without contacting the block."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "022db6d8-eddd-465c-babe-a6bc5110530d"}, {"label": "valid", "start_step": 0, "end_step": 3128, "id": "NIeGvzYwIqoNQbr4rx6Rz"}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves empty from its initial right upper position down and left toward the green hexagonal block on the table in front of the wooden peg stand, with fingers extended, without contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table in front of the wooden peg stand, fingers close and make small positional adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the table, and lifts the block upward until it is completely separated from the table surface."}, {"label": "goal", "start_step": 181, "end_step": 330, "id": "2bdb46a5-4785-4394-876a-52326ec11a39"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted green block, moving it upward and horizontally to position it directly above the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align its central hole with the purple peg, lowers the block to fit it onto the peg, and makes small fine adjustments during the fitting process."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand releases the white cylindrical component on the wooden assembly base, with fingers opening to separate from the component."}, {"label": "goal", "start_step": 331, "end_step": 475, "id": "89048f88-2985-41c2-ba52-138f4e092c63"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to fingers and wrist around the target white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand grips the white hexagonal block on the table surface, lifts it completely off the black table, and carries it to the position directly above the leftmost purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 476, "end_step": 625, "id": "e4276a17-2110-4827-bb01-38fa2e7e7fdd"}, {"label": "subtasks", "start_step": 495, "end_step": 651, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod, moves the block downward to fit it onto the rod until it rests on the supporting green block, with fingers opening to release the assembled block."}, {"label": "goal", "start_step": 626, "end_step": 725, "id": "f292199a-fd21-41cf-a043-730e5ffdbdd9"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the nearby white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers gradually to establish a grip on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 726, "end_step": 940, "id": "de48d2b2-b407-41d5-9eb1-c35687ab0159"}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly over the unoccupied purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 758, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward from the position above the wooden assembly rack toward the closest white hexagonal nut on the nearby table surface, with fingers held open."}, {"label": "goal", "start_step": 941, "end_step": 1040, "id": "a25f48b0-5ad6-400f-a3d6-494690a41ba8"}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusting finger positions and closing fingers around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward from the black table surface."}, {"label": "goal", "start_step": 1041, "end_step": 1325, "id": "5b4309a7-5402-46b9-ac27-53342a00cd0e"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand transports the gripped white hexagonal nut upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its hole with the purple peg, fitting the nut onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which slides down the purple peg to rest on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed on the black table in front of the wooden assembly base, with fingers slightly extended."}, {"label": "goal", "start_step": 1326, "end_step": 1425, "id": "b9b45b62-ebcf-4537-974e-15aaeb4a06e2"}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to insert into the central hole of the green hexagonal nut, closing fingers gradually to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the stably grasped green hexagonal nut upward until the nut is completely off the black table surface."}, {"label": "goal", "start_step": 1426, "end_step": 1665, "id": "48e78869-5397-4eea-ad4b-e23d7be34ae5"}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block up and toward the purple rod mounted on the wooden base, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1664, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple rod, lowering the block gradually to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: place: Right hand lowers the mated green hexagonal block down along the purple rod until the block rests stably on the green block below."}, {"label": "goal", "start_step": 1666, "end_step": 1780, "id": "54d36989-3a02-4159-87d7-3c0647d8be08"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downwards from the area above the wooden block set towards the white hexagonal nut on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1725, "end_step": 1791, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand approaches the white hexagonal nut on the table, makes contact with the nut, closes fingers around it and performs minor finger adjustments to establish a grip."}, {"label": "goal", "start_step": 1781, "end_step": 2000, "id": "132d43ba-c7ea-4ea0-bc1f-842c2fd7b5cf"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it toward the wooden block rack."}, {"label": "subtasks", "start_step": 1815, "end_step": 1979, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack and lowers the block to fit onto the rod, seating it on the stacked block below."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod of the wooden rack without observable movement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical part on the wooden assembly stand, losing contact with the part."}, {"label": "goal", "start_step": 2001, "end_step": 2180, "id": "af88cbf1-6a74-4289-9af7-370a41e9f22e"}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves rightward and downward toward the white hexagonal nut placed on the black table surface near the assembly stand, remaining empty before contact."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes repeated small adjustments to finger positions, closing fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface, with no visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand grips the white hexagonal cylinder resting on the table surface and lifts it upward until the cylinder is fully separated from the table."}, {"label": "goal", "start_step": 2181, "end_step": 2485, "id": "01f1ff17-60e1-4802-9b27-0a65253eff44"}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder upward and leftward toward the empty slot on the wooden assembly block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand holds the white hexagonal cylinder above the empty slot, making small positional and rotational adjustments to align the cylinder with the target slot."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: place_release: Right hand lowers the aligned white hexagonal cylinder toward the slot, opens fingers to release the grip, and the cylinder settles stably on the wooden block base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table, staying empty and out of contact with the nut."}, {"label": "goal", "start_step": 2486, "end_step": 2590, "id": "051cd635-07d8-46b8-bcdc-db748011d6fa"}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and adjust position to form a grip on the nut."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block stationary on the dark gray table surface."}, {"label": "goal", "start_step": 2591, "end_step": 2775, "id": "58fb717c-04b0-4003-8380-ac93d38d0d34"}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it fully separates from the table surface."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block through the air toward the wooden component rack."}, {"label": "subtasks", "start_step": 2640, "end_step": 2774, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod on the wooden rack, fits the block onto the rod, opens fingers to release the block."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: idle: Right hand remains empty near the white bottle rack without observable position or posture change."}, {"label": "goal", "start_step": 2776, "end_step": 2885, "id": "b6d8cc86-7d94-4319-9046-02e087f40379"}, {"label": "subtasks", "start_step": 2798, "end_step": 2819, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves down-right toward the green cube on the table surface, staying empty as it approaches the cube without contact."}, {"label": "subtasks", "start_step": 2820, "end_step": 2879, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to establish contact and form a grip on the cube."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal block straight upward from the black table surface until the block is fully lifted off the table."}, {"label": "goal", "start_step": 2886, "end_step": 3050, "id": "9a54fe26-67dd-419c-b2ec-e2037a05136c"}, {"label": "subtasks", "start_step": 2902, "end_step": 2947, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand transports the green block upward and leftward to the position directly above the purple-capped white bottle on the wooden stand, making small positional adjustments."}, {"label": "subtasks", "start_step": 2948, "end_step": 2991, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the green block steadily above the purple-capped white bottle without any visible movement."}, {"label": "subtasks", "start_step": 2992, "end_step": 3059, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand lowers the green block, aligns its central hole with the top of the purple-capped white bottle, and fits the block securely onto the bottle."}, {"label": "home", "start_step": 3129, "end_step": 3152, "id": "frEXz5UrKcV7Be0QlcD7k"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial left-side position to the left home position in front of the body, with fingers slightly adjusting to a relaxed curved posture. | Right hand: reach: Right hand moves empty from its initial right upper position down and left toward the green hexagonal block on the table in front of the wooden peg stand, with fingers extended, without contacting the block."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves empty from its initial right upper position down and left toward the green hexagonal block on the table in front of the wooden peg stand, with fingers extended, without contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table in front of the wooden peg stand, fingers close and make small positional adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the table, and lifts the block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted green block, moving it upward and horizontally to position it directly above the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align its central hole with the purple peg, lowers the block to fit it onto the peg, and makes small fine adjustments during the fitting process."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand releases the white cylindrical component on the wooden assembly base, with fingers opening to separate from the component."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to fingers and wrist around the target white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand grips the white hexagonal block on the table surface, lifts it completely off the black table, and carries it to the position directly above the leftmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 495, "end_step": 651, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod, moves the block downward to fit it onto the rod until it rests on the supporting green block, with fingers opening to release the assembled block."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the nearby white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers gradually to establish a grip on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly over the unoccupied purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 758, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward from the position above the wooden assembly rack toward the closest white hexagonal nut on the nearby table surface, with fingers held open."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusting finger positions and closing fingers around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward from the black table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand transports the gripped white hexagonal nut upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its hole with the purple peg, fitting the nut onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which slides down the purple peg to rest on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed on the black table in front of the wooden assembly base, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to insert into the central hole of the green hexagonal nut, closing fingers gradually to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the stably grasped green hexagonal nut upward until the nut is completely off the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block up and toward the purple rod mounted on the wooden base, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1664, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple rod, lowering the block gradually to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: place: Right hand lowers the mated green hexagonal block down along the purple rod until the block rests stably on the green block below."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downwards from the area above the wooden block set towards the white hexagonal nut on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1725, "end_step": 1791, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand approaches the white hexagonal nut on the table, makes contact with the nut, closes fingers around it and performs minor finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it toward the wooden block rack."}, {"label": "subtasks", "start_step": 1815, "end_step": 1979, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack and lowers the block to fit onto the rod, seating it on the stacked block below."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod of the wooden rack without observable movement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical part on the wooden assembly stand, losing contact with the part."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves rightward and downward toward the white hexagonal nut placed on the black table surface near the assembly stand, remaining empty before contact."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes repeated small adjustments to finger positions, closing fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface, with no visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand grips the white hexagonal cylinder resting on the table surface and lifts it upward until the cylinder is fully separated from the table."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder upward and leftward toward the empty slot on the wooden assembly block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2467, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand holds the white hexagonal cylinder above the empty slot, making small positional and rotational adjustments to align the cylinder with the target slot."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: place_release: Right hand lowers the aligned white hexagonal cylinder toward the slot, opens fingers to release the grip, and the cylinder settles stably on the wooden block base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table, staying empty and out of contact with the nut."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and adjust position to form a grip on the nut."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block stationary on the dark gray table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it fully separates from the table surface."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block through the air toward the wooden component rack."}, {"label": "subtasks", "start_step": 2640, "end_step": 2774, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod on the wooden rack, fits the block onto the rod, opens fingers to release the block."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: idle: Right hand remains empty near the white bottle rack without observable position or posture change."}, {"label": "subtasks", "start_step": 2798, "end_step": 2819, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves down-right toward the green cube on the table surface, staying empty as it approaches the cube without contact."}, {"label": "subtasks", "start_step": 2820, "end_step": 2879, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to establish contact and form a grip on the cube."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal block straight upward from the black table surface until the block is fully lifted off the table."}, {"label": "subtasks", "start_step": 2902, "end_step": 2947, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand transports the green block upward and leftward to the position directly above the purple-capped white bottle on the wooden stand, making small positional adjustments."}, {"label": "subtasks", "start_step": 2948, "end_step": 2991, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the green block steadily above the purple-capped white bottle without any visible movement."}, {"label": "subtasks", "start_step": 2992, "end_step": 3059, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand lowers the green block, aligns its central hole with the top of the purple-capped white bottle, and fits the block securely onto the bottle."}], "episode_index": 17}
+{"source_uid": "43cf9066d8a1f509", "num_frames": 2467, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger posture and wrist orientation at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand adjusts its finger posture and wrist orientation at the right side of the table, with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "cedb9703-1592-489f-b49a-1a45ca68759c"}, {"label": "valid", "start_step": 0, "end_step": 2436, "id": "XG26TzAiolQULLvvaHowS"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves left-forward towards the green hexagonal block in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block, closes fingers to establish and adjust the grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 146, "end_step": 340, "id": "53d7e8d3-7281-4970-9d0c-a4a117d0f517"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it towards the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green cubic block with the front purple peg on the wooden base by inserting the block downwards onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 341, "end_step": 445, "id": "f7bd62b6-e1ea-442d-b9a9-5f1c59f8f977"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 446, "end_step": 650, "id": "4a8a2a1c-6a4a-467e-a628-3824c4288b6c"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the leftmost purple post on the test tube rack."}, {"label": "subtasks", "start_step": 480, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the leftmost purple post of the test tube rack."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the top of the rightmost purple peg on the wooden base and releases the piece."}, {"label": "goal", "start_step": 651, "end_step": 745, "id": "1ff29097-8624-4041-8ec1-47253add83ec"}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 746, "end_step": 915, "id": "840d4309-1603-498f-8e0c-15a5f647244e"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the wooden peg rack with purple rods."}, {"label": "subtasks", "start_step": 780, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the front-left purple rod of the peg rack and releases the piece."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats upward and rightward away from the peg rack."}, {"label": "goal", "start_step": 916, "end_step": 1005, "id": "5525cf7f-f051-47bb-9ce8-16d534aa9c27"}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 1006, "end_step": 1170, "id": "27e858f3-2d48-4c23-b3e1-05bbe617b275"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and sliding the block down to the base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block on the purple rod and moves upward slightly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal block on the table, without touching the block."}, {"label": "goal", "start_step": 1171, "end_step": 1265, "id": "1cc2ce02-dadc-4e94-9ecd-753626cf101a"}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1266, "end_step": 1390, "id": "66b71df2-aec1-4957-b398-02f2e8ea4d77"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden rack by aligning the block's hole with the peg and lowering the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1391, "end_step": 1470, "id": "26d19c92-b5e7-426a-8a49-35ffc24ddfd8"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the assembly rack toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 1471, "end_step": 1655, "id": "66effa13-fb5f-4a04-b1f6-6116c1e39dda"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the purple vertical rod of the wooden rack, aligning the hole and lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hollow hexagonal block, fingers open and separate from the block."}, {"label": "goal", "start_step": 1656, "end_step": 1740, "id": "4caa611c-ad9c-456b-97d9-c5da871c4fae"}, {"label": "subtasks", "start_step": 1672, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1741, "end_step": 1955, "id": "080ab2b0-8b18-4553-88d2-3cddbc43dab4"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and assembles it onto the rod by pushing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the purple rod, with fingers separating from the block."}, {"label": "goal", "start_step": 1956, "end_step": 2030, "id": "8268d0a9-5d9a-4b5e-a44c-b1ebd92cafdf"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right side of the black table without moving."}, {"label": "goal", "start_step": 2031, "end_step": 2160, "id": "b4ec67db-e036-4baf-944d-95b7313be98c"}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward from the black table until the block is fully off the surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hollow hexagonal block and moves leftward toward the wooden bottle rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod on the wooden rack and slides it down onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hollow hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats rightward away from the wooden bottle rack."}, {"label": "goal", "start_step": 2161, "end_step": 2245, "id": "c78f492b-8d62-41ba-a6c6-28e982e23730"}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards toward the green block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow square block on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2246, "end_step": 2385, "id": "b4a27b14-29ba-4402-8adc-0c9de8baf9df"}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the white bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hollow square block with the purple-topped bottle on the right side of the rack and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening to separate from the block."}, {"label": "home", "start_step": 2437, "end_step": 2466, "id": "XQ9S54Smqbbx287I_9B2-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger posture and wrist orientation at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand adjusts its finger posture and wrist orientation at the right side of the table, with no obvious overall displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves left-forward towards the green hexagonal block in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block, closes fingers to establish and adjust the grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it towards the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 195, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green cubic block with the front purple peg on the wooden base by inserting the block downwards onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the leftmost purple post on the test tube rack."}, {"label": "subtasks", "start_step": 480, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the leftmost purple post of the test tube rack."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the top of the rightmost purple peg on the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the wooden peg rack with purple rods."}, {"label": "subtasks", "start_step": 780, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the front-left purple rod of the peg rack and releases the piece."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats upward and rightward away from the peg rack."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and sliding the block down to the base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block on the purple rod and moves upward slightly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal block on the table, without touching the block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden rack by aligning the block's hole with the peg and lowering the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the assembly rack toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the purple vertical rod of the wooden rack, aligning the hole and lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hollow hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and assembles it onto the rod by pushing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the purple rod, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward from the black table until the block is fully off the surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hollow hexagonal block and moves leftward toward the wooden bottle rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod on the wooden rack and slides it down onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hollow hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats rightward away from the wooden bottle rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards toward the green block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green block on the table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow square block on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the white bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hollow square block with the purple-topped bottle on the right side of the rack and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening to separate from the block."}], "episode_index": 18}
+{"source_uid": "d995bc369df243a6", "num_frames": 2406, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its hand and finger posture at the left side of the frame without contacting any object. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "18714830-52bd-43c4-90f8-3fc4833b7ef8"}, {"label": "valid", "start_step": 0, "end_step": 2373, "id": "HdQ7P-etM_TR7zK76D7VW"}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 156, "end_step": 295, "id": "f4be6bfe-e377-43cf-99fe-f6dc897becd9"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: transport: Right hand transports the green block to the position above the rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand inserts the green block onto the rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden rack."}, {"label": "goal", "start_step": 296, "end_step": 375, "id": "fb2e1e69-0ffc-4220-bc59-f8e65ccd5b87"}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 376, "end_step": 510, "id": "08960a35-53fb-423b-9f88-e07b5bab9131"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it to the position above the frontmost purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand aligns the white hexagonal nut with the frontmost purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pillar to secure it in place."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves from the wooden assembly board area toward the white hexagonal block on the lower part of the desktop."}, {"label": "goal", "start_step": 511, "end_step": 585, "id": "a6a290df-146f-4749-ba72-943f1a9b89c7"}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers close and adjust to form a stable grasp."}, {"label": "goal", "start_step": 586, "end_step": 795, "id": "85b4aeb6-2bc4-474b-9455-8421e6a07f25"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the white hexagonal object fitted on the purple rod."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: idle: Right hand remains empty above the test tube rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 796, "end_step": 890, "id": "89733534-59c4-45b1-8452-4d02dd5e3e59"}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden tray."}, {"label": "goal", "start_step": 891, "end_step": 1050, "id": "7dcdf05b-fe80-4c02-9208-a809ddfb7844"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 1051, "end_step": 1140, "id": "34cddbb6-af84-4d07-a0bf-639d59eda21d"}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the green hexagonal block, with fingers closing around the block to form stable contact."}, {"label": "goal", "start_step": 1141, "end_step": 1300, "id": "2e2b0969-0161-4847-86c6-0530c046a9f5"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the green block with the purple rod by lowering it down along the rod."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the green block which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1301, "end_step": 1375, "id": "5492372d-aceb-4f72-b393-aa65b71cd1d1"}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach_grasp: Right hand reaches toward the green hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1376, "end_step": 1510, "id": "b178a8c0-b7aa-438f-89b7-8dea09a0fd81"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white ring onto the purple vertical post on the wooden board."}, {"label": "goal", "start_step": 1511, "end_step": 1580, "id": "ffe4b047-e1be-4a41-bdac-1ef5cc78a6da"}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: retreat: Right hand retreats away from the wooden board towards the white ring on the black table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches towards the white ring on the black table near the wooden board."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers adjust to form stable grip."}, {"label": "goal", "start_step": 1581, "end_step": 1690, "id": "999bd557-9dc8-4ddc-9db5-c92001420c71"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches toward the white ring block on the table surface."}, {"label": "goal", "start_step": 1691, "end_step": 1750, "id": "60f12ad4-3685-4bc7-98f9-9618cb696224"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white ring block on the table surface with fingers closing."}, {"label": "goal", "start_step": 1751, "end_step": 2085, "id": "bc291e67-8055-4edd-83d7-cfbaac398695"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white ring block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white ring block onto the purple rod by aligning and lowering it until the block is fully seated on the rod."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: retreat: Right hand retreats slightly away from the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the green block on the right part of the table."}, {"label": "goal", "start_step": 2086, "end_step": 2175, "id": "51b29c9c-17cc-4787-a9f2-aeafb4e517f8"}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: hold: Right hand holds the green square block on the right side of the table without moving."}, {"label": "goal", "start_step": 2176, "end_step": 2335, "id": "f89898c5-2406-40af-86c7-8719bdb7d904"}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it towards the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the green square block onto the top of the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the green square block from its grip."}, {"label": "home", "start_step": 2374, "end_step": 2405, "id": "01Mz4QnmLiMh7MRkxwrhW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its hand and finger posture at the left side of the frame without contacting any object. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: transport: Right hand transports the green block to the position above the rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand inserts the green block onto the rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it to the position above the frontmost purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand aligns the white hexagonal nut with the frontmost purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pillar to secure it in place."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves from the wooden assembly board area toward the white hexagonal block on the lower part of the desktop."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers close and adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the white hexagonal object fitted on the purple rod."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: idle: Right hand remains empty above the test tube rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the green hexagonal block, with fingers closing around the block to form stable contact."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the green block with the purple rod by lowering it down along the rod."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the green block which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach_grasp: Right hand reaches toward the green hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white ring onto the purple vertical post on the wooden board."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: retreat: Right hand retreats away from the wooden board towards the white ring on the black table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches towards the white ring on the black table near the wooden board."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers adjust to form stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches toward the white ring block on the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white ring block on the table surface with fingers closing."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white ring block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white ring block onto the purple rod by aligning and lowering it until the block is fully seated on the rod."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: retreat: Right hand retreats slightly away from the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the green block on the right part of the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: hold: Right hand holds the green square block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it towards the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the green square block onto the top of the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the green square block from its grip."}], "episode_index": 19}
+{"source_uid": "6858aa655d4a6846", "num_frames": 2824, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts wrist angle and finger curvature while remaining empty on the left side of the workspace, with no obvious translational movement toward any operational target. | Right hand: reach: Right hand moves translationally from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg stand, with fingers held slightly extended as it approaches the target."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "3ce977d5-03dd-4398-87fe-5a30edd05961"}, {"label": "valid", "start_step": 0, "end_step": 2794, "id": "Ft1FLYfO6Dfs7VTWDvag0"}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves translationally from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg stand, with fingers held slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand contacts the target green hexagonal block, with fingers closing and making subtle positional adjustments to form a stable grip, while the block remains resting on the table surface."}, {"label": "goal", "start_step": 161, "end_step": 290, "id": "7946d0cd-9d83-4561-ac72-97fe5f34603e"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and transports it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg on the wooden base and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement or adjustment."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach_grasp: Right hand moves downward and leftward from the upper pegboard area to the white hexagonal block on the table surface, closing fingers to establish a grasp on the block."}, {"label": "goal", "start_step": 291, "end_step": 380, "id": "e3bc5055-64f0-45b7-9e51-30013c465f3d"}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 381, "end_step": 520, "id": "2b3b2e38-6e8c-469c-9b18-0b13f71e064a"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden base and moves the nut downward to nest it securely onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: place_release: Right hand holds the white-capped hexagonal block, moves it downward to seat it onto the purple peg of the wooden peg board until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 521, "end_step": 615, "id": "1d1b4630-2ef9-42fd-b8a1-a728fa8fc5e6"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves empty downward away from the peg board toward the hexagonal nuts placed on the black table surface, with fingers slightly extended while approaching the targets."}, {"label": "subtasks", "start_step": 562, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around a green hexagonal nut on the table, making minor continuous adjustments to finger and wrist positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 616, "end_step": 765, "id": "1e97a102-edca-49aa-87dc-eea5273ca1a1"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple rod, lowers the nut to fit it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 766, "end_step": 875, "id": "9acc1282-47ab-45f8-8f43-e604a2d3138d"}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, lifts it upward until the nut is completely off the table."}, {"label": "goal", "start_step": 876, "end_step": 1095, "id": "6945871d-48ac-485e-8e2c-a4fb30f13bd2"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: transport: Right hand carries the airborne white hexagonal nut, moves it upward and rightward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut fitted on the purple rod, fully separating from the nut."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand rests on the topmost placed white cylindrical block on the stacking base without moving."}, {"label": "goal", "start_step": 1096, "end_step": 1240, "id": "cfb39a2b-5eb3-4315-9041-7d3fcdddc3f1"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the nearby green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grasp on the block."}, {"label": "goal", "start_step": 1241, "end_step": 1380, "id": "481b13de-ce60-483a-a0eb-8849b2ac35cf"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface, moving the block upward toward the wooden block assembly base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the empty purple rod on the wooden base, lowering the block to fit it onto the rod until it rests stably on the supporting block below."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens fingers to release its grip on the green hexagonal block seated on the purple rod."}, {"label": "goal", "start_step": 1381, "end_step": 1485, "id": "ba9f19a8-301f-4aa4-9460-c0476abd0224"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1418, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table, forming a grasp while the nut remains on the support surface."}, {"label": "goal", "start_step": 1486, "end_step": 1970, "id": "87091949-d48e-4751-ba50-bd3d00a133a4"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly base, making small rotational and positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens fingers to release contact with the white block on the top of the wooden assembly stand."}, {"label": "goal", "start_step": 1971, "end_step": 2150, "id": "897a8c97-7c46-412c-b710-1b7c5111bfa7"}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves down and right toward the loose white hexagonal block on the table surface, with fingers held open as it approaches."}, {"label": "subtasks", "start_step": 2062, "end_step": 2159, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes around the loose white hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 2151, "end_step": 2330, "id": "526bbcd7-40cb-4aea-897e-46d14d1ee65d"}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2324, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the surface of the wooden base."}, {"label": "goal", "start_step": 2331, "end_step": 2410, "id": "f45488f9-dbe2-498f-b75b-c8e58d68990a"}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: retreat: Right hand moves away from the purple cylinder on the wooden assembly stand with an empty hand."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut placed on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 2411, "end_step": 2540, "id": "280c1aef-559c-4573-a7e5-83147ed8114b"}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit securely onto the rod, completing the assembly connection."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, moving slightly away from the assembled object."}, {"label": "goal", "start_step": 2541, "end_step": 2620, "id": "c3efaa63-b7a1-4553-b42c-83336a112b4a"}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the area adjacent to the white cylinder rack toward the small green cube on the dark table surface, with fingers slightly open and no contact with the cube."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the dark table surface to form a grip."}, {"label": "goal", "start_step": 2621, "end_step": 2755, "id": "fa91efd7-f550-474d-ae1e-1b4ebe45fc6c"}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and moves it upward and leftward to the position directly above the target white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2751, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand adjusts the green block's orientation and position to align its central hole with the top of the target white cylinder, then lowers the block to fit it securely onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2759, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens its fingers to release the green block, which is now stably fitted onto the white cylinder."}, {"label": "home", "start_step": 2795, "end_step": 2823, "id": "eAZAFSX_r-AjJl2E5qUIn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts wrist angle and finger curvature while remaining empty on the left side of the workspace, with no obvious translational movement toward any operational target. | Right hand: reach: Right hand moves translationally from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg stand, with fingers held slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves translationally from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg stand, with fingers held slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand contacts the target green hexagonal block, with fingers closing and making subtle positional adjustments to form a stable grip, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and transports it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg on the wooden base and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement or adjustment."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach_grasp: Right hand moves downward and leftward from the upper pegboard area to the white hexagonal block on the table surface, closing fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden base and moves the nut downward to nest it securely onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: place_release: Right hand holds the white-capped hexagonal block, moves it downward to seat it onto the purple peg of the wooden peg board until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves empty downward away from the peg board toward the hexagonal nuts placed on the black table surface, with fingers slightly extended while approaching the targets."}, {"label": "subtasks", "start_step": 562, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around a green hexagonal nut on the table, making minor continuous adjustments to finger and wrist positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple rod, lowers the nut to fit it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, lifts it upward until the nut is completely off the table."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: transport: Right hand carries the airborne white hexagonal nut, moves it upward and rightward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut fitted on the purple rod, fully separating from the nut."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand rests on the topmost placed white cylindrical block on the stacking base without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the nearby green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface, moving the block upward toward the wooden block assembly base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the empty purple rod on the wooden base, lowering the block to fit it onto the rod until it rests stably on the supporting block below."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens fingers to release its grip on the green hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1418, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table, forming a grasp while the nut remains on the support surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position directly above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly base, making small rotational and positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens fingers to release contact with the white block on the top of the wooden assembly stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves down and right toward the loose white hexagonal block on the table surface, with fingers held open as it approaches."}, {"label": "subtasks", "start_step": 2062, "end_step": 2159, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes around the loose white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2324, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: retreat: Right hand moves away from the purple cylinder on the wooden assembly stand with an empty hand."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut placed on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit securely onto the rod, completing the assembly connection."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, moving slightly away from the assembled object."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the area adjacent to the white cylinder rack toward the small green cube on the dark table surface, with fingers slightly open and no contact with the cube."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and moves it upward and leftward to the position directly above the target white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2751, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand adjusts the green block's orientation and position to align its central hole with the top of the target white cylinder, then lowers the block to fit it securely onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2759, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens its fingers to release the green block, which is now stably fitted onto the white cylinder."}], "episode_index": 20}
+{"source_uid": "75746a650160e0e5", "num_frames": 2979, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from the left initial position toward the upper area above the central wooden block stand with fingers extended, remaining empty without touching any object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut in front of the wooden block stand with fingers extended, remaining empty without touching the nut."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "940cc006-d778-4f06-bb73-01d234a95415"}, {"label": "valid", "start_step": 0, "end_step": 2954, "id": "KVBmCqdEP6Vl6i5urvKxh"}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand contacts the green hexagonal nut in front of the wooden block stand, adjusting finger positions and closing fingers to establish a stable grasp."}, {"label": "goal", "start_step": 131, "end_step": 295, "id": "0ad884e5-ea08-4ca5-9eaf-c26b566a1741"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the black table surface and moves it upward to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden assembly base, lowers the block to slide it down the peg, and makes small positional adjustments to fit the block into the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table in front of the wooden pegboard, with fingers held open."}, {"label": "goal", "start_step": 296, "end_step": 385, "id": "051211ce-eded-4ec6-b0da-4f8c4b23b598"}, {"label": "subtasks", "start_step": 322, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and making slight positional adjustments to form a grip on the nut."}, {"label": "goal", "start_step": 386, "end_step": 580, "id": "7fdbd86c-4560-4c74-baff-80452ec148c3"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward and horizontally to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut and adjusts its position to fit it onto the rod."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple peg above the green block on the wooden stand, opening fingers to release the stably supported block."}, {"label": "goal", "start_step": 581, "end_step": 680, "id": "949c4eba-4218-4483-8d92-73f37eb1ed2e"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downward from the wooden stand area toward the front white hexagonal block resting on the black table."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "goal", "start_step": 681, "end_step": 975, "id": "7762cf5c-55f7-4898-a386-1f97e8acfaf6"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand moves the grasped white hexagonal nut toward the wooden block assembly, positioning the nut directly above one purple rod on the assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, makes small positional adjustments, and slides the nut down the rod until it rests on the green base component."}, {"label": "subtasks", "start_step": 975, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward from above the wooden peg base toward the white hexagonal block placed on the table surface near the base."}, {"label": "goal", "start_step": 976, "end_step": 1065, "id": "0e24acd7-cdb3-4977-8852-d6ca741348c0"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table, with small finger and wrist movements to form a stable grasp."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand holds the white hexagonal nut, moves it toward the wooden base to position it directly above the target purple rod."}, {"label": "goal", "start_step": 1066, "end_step": 1245, "id": "9b421bfc-be37-48b7-a4dc-aba2b7583517"}, {"label": "subtasks", "start_step": 1118, "end_step": 1237, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place: Right hand lowers the white hexagonal nut further along the purple rod until the nut rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1246, "end_step": 1400, "id": "1598d05e-0818-4b05-9959-7ac921d324fc"}, {"label": "subtasks", "start_step": 1275, "end_step": 1417, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes slight continuous adjustments to finger and wrist positions around the green hexagonal block on the table, with fine finger movements to establish a stable grasp of the block."}, {"label": "goal", "start_step": 1401, "end_step": 1755, "id": "296af2b9-f4d2-4ae5-a8be-6c9f34748134"}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: hold: Right hand holds the green hexagonal block steadily above the purple rod without any observable movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1687, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reorient: Right hand makes small rotational and positional adjustments to the green hexagonal block, rotating it slightly to align its central hole with the purple rod below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place: Right hand moves the aligned green hexagonal block downward along the purple rod, lowering it until it rests stably on the white block beneath it on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple post, separating from the block."}, {"label": "goal", "start_step": 1756, "end_step": 1870, "id": "cd77d22e-196e-475f-9699-49fe737a8691"}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a grasp."}, {"label": "goal", "start_step": 1871, "end_step": 2010, "id": "271fd7dd-070b-40dc-ac61-c54488609d3a"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table, then moves it upward and toward the wooden assembly stand to position it above the purple rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 2009, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand, moves the block downward to nest it onto the rod while adjusting its position for proper fit."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves from above the wooden bottle holder downwards and rightwards toward the upper white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "goal", "start_step": 2011, "end_step": 2100, "id": "63156918-3ccc-4014-9031-7b62a9bcaadf"}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut on the table, closing fingers and adjusting contact positions to establish a grip on the nut."}, {"label": "goal", "start_step": 2101, "end_step": 2290, "id": "1a3b5d58-cd46-4fb8-aba9-99432348684a"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to position above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2145, "end_step": 2271, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple rod, and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod to rest on the existing nut below, then opens fingers to release the nut."}, {"label": "goal", "start_step": 2291, "end_step": 2470, "id": "65fba59f-a03d-46f9-9e34-69807b272f9e"}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward empty from the wooden block stand toward the green block resting on the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: push: Right hand contacts the green block on the table, pushing it to tilt to one side while remaining in contact with the block."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves from the green block position toward the adjacent white hexagonal nut on the table, adjusting finger positions to approach the nut without forming a grasp."}, {"label": "subtasks", "start_step": 2460, "end_step": 2527, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple mounting rod on the wooden block rack."}, {"label": "goal", "start_step": 2471, "end_step": 2640, "id": "323fe3bc-2aa7-4edf-830e-7225a55e110d"}, {"label": "subtasks", "start_step": 2528, "end_step": 2631, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple mounting rod, lowering the block to fit onto the rod until it rests on the base block on the rack."}, {"label": "subtasks", "start_step": 2632, "end_step": 2639, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating the hand from the placed block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downwards and rightwards to approach the green square block on the dark table surface."}, {"label": "goal", "start_step": 2641, "end_step": 2720, "id": "f317984b-01a4-44d3-b253-a2d45f483a40"}, {"label": "subtasks", "start_step": 2692, "end_step": 2744, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand closes fingers around the green square block, adjusting finger positions to establish grip on the object."}, {"label": "goal", "start_step": 2721, "end_step": 2915, "id": "68c1ef2c-d663-47aa-bcc4-1bc4586e089b"}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and transports it upward to the position directly above the target white bottle cap on the wooden block holder."}, {"label": "subtasks", "start_step": 2775, "end_step": 2901, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green block to align its central hole with the top of the target white bottle cap."}, {"label": "subtasks", "start_step": 2902, "end_step": 2924, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the aligned green block onto the target white bottle cap and opens fingers to release the block, leaving it seated on the cap."}, {"label": "home", "start_step": 2955, "end_step": 2978, "id": "R3fHJwBp7crNrjPwcAWxh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from the left initial position toward the upper area above the central wooden block stand with fingers extended, remaining empty without touching any object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut in front of the wooden block stand with fingers extended, remaining empty without touching the nut."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand contacts the green hexagonal nut in front of the wooden block stand, adjusting finger positions and closing fingers to establish a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the black table surface and moves it upward to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden assembly base, lowers the block to slide it down the peg, and makes small positional adjustments to fit the block into the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table in front of the wooden pegboard, with fingers held open."}, {"label": "subtasks", "start_step": 322, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and making slight positional adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward and horizontally to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut and adjusts its position to fit it onto the rod."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple peg above the green block on the wooden stand, opening fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downward from the wooden stand area toward the front white hexagonal block resting on the black table."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand moves the grasped white hexagonal nut toward the wooden block assembly, positioning the nut directly above one purple rod on the assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, makes small positional adjustments, and slides the nut down the rod until it rests on the green base component."}, {"label": "subtasks", "start_step": 975, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward from above the wooden peg base toward the white hexagonal block placed on the table surface near the base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table, with small finger and wrist movements to form a stable grasp."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand holds the white hexagonal nut, moves it toward the wooden base to position it directly above the target purple rod."}, {"label": "subtasks", "start_step": 1118, "end_step": 1237, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit the rod through the hole."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place: Right hand lowers the white hexagonal nut further along the purple rod until the nut rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1417, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes slight continuous adjustments to finger and wrist positions around the green hexagonal block on the table, with fine finger movements to establish a stable grasp of the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: hold: Right hand holds the green hexagonal block steadily above the purple rod without any observable movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1687, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reorient: Right hand makes small rotational and positional adjustments to the green hexagonal block, rotating it slightly to align its central hole with the purple rod below."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place: Right hand moves the aligned green hexagonal block downward along the purple rod, lowering it until it rests stably on the white block beneath it on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple post, separating from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a grasp."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table, then moves it upward and toward the wooden assembly stand to position it above the purple rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 2009, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand, moves the block downward to nest it onto the rod while adjusting its position for proper fit."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves from above the wooden bottle holder downwards and rightwards toward the upper white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut on the table, closing fingers and adjusting contact positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to position above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2145, "end_step": 2271, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple rod, and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod to rest on the existing nut below, then opens fingers to release the nut."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward empty from the wooden block stand toward the green block resting on the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: push: Right hand contacts the green block on the table, pushing it to tilt to one side while remaining in contact with the block."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves from the green block position toward the adjacent white hexagonal nut on the table, adjusting finger positions to approach the nut without forming a grasp."}, {"label": "subtasks", "start_step": 2460, "end_step": 2527, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple mounting rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2528, "end_step": 2631, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple mounting rod, lowering the block to fit onto the rod until it rests on the base block on the rack."}, {"label": "subtasks", "start_step": 2632, "end_step": 2639, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating the hand from the placed block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downwards and rightwards to approach the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2692, "end_step": 2744, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand closes fingers around the green square block, adjusting finger positions to establish grip on the object."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and transports it upward to the position directly above the target white bottle cap on the wooden block holder."}, {"label": "subtasks", "start_step": 2775, "end_step": 2901, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green block to align its central hole with the top of the target white bottle cap."}, {"label": "subtasks", "start_step": 2902, "end_step": 2924, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the aligned green block onto the target white bottle cap and opens fingers to release the block, leaving it seated on the cap."}], "episode_index": 21}
+{"source_uid": "612e3c13382e4658", "num_frames": 2723, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly bends its fingers to adjust posture at the left side of the table, remaining empty and not contacting any object. | Right hand: reach: Right hand moves leftwards toward the green hexagonal block on the black table, remaining empty and not contacting the object."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "909ee246-1bd2-4d24-b451-da922dca7feb"}, {"label": "valid", "start_step": 0, "end_step": 2692, "id": "wgZEB0U-z5IhyF5E_KPIE"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves leftwards toward the green hexagonal block on the black table, remaining empty and not contacting the object."}, {"label": "subtasks", "start_step": 82, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 161, "end_step": 310, "id": "6c9ee878-ecb4-44a6-a15f-fe5e6b104027"}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "goal", "start_step": 311, "end_step": 425, "id": "8522b259-9991-4ca1-8286-b3898b7e371c"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable contact."}, {"label": "goal", "start_step": 426, "end_step": 560, "id": "4a1d82a9-89e6-4101-89c7-a51719ec5232"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place: Right hand places the white hexagonal nut onto the top end of the purple rod."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by pressing it down along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white block placed on the purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 561, "end_step": 670, "id": "4688d8a3-6db4-4751-b947-b2ae3d8981dd"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block."}, {"label": "goal", "start_step": 671, "end_step": 855, "id": "59197d91-b72d-48c1-8f85-46f6a925c2f9"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the test tube rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the white hexagonal object with the top of the target purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 735, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: press: Right hand presses the white hexagonal object down along the purple rod to fit it in place."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 856, "end_step": 965, "id": "3cddd7c6-9a39-40db-87af-2b15306d4dea"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 966, "end_step": 1280, "id": "10202f37-68a1-4cfe-a08f-1187c470efe8"}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1267, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple post."}, {"label": "goal", "start_step": 1281, "end_step": 1410, "id": "e42493bd-f9ff-4e62-87c8-4d5fcc0bafa0"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downwards towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1411, "end_step": 1585, "id": "30463d92-5f9f-45d5-9f38-cf084991b24b"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift: Right hand lifts the green hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the green block towards the upper part of the white peg on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the white peg."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: press: Right hand presses the green block down along the white peg until it is fully seated."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the green block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 1586, "end_step": 1680, "id": "1c326463-14c7-4f27-b733-aed2e8a5518c"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1681, "end_step": 1865, "id": "adab5df8-10a9-4fac-b3de-34daffa9e6f9"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with multiple posts."}, {"label": "subtasks", "start_step": 1740, "end_step": 1859, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal block onto the corresponding post on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 1866, "end_step": 1970, "id": "1689e2a4-d9d9-40f4-b4f7-7359431b25f5"}, {"label": "subtasks", "start_step": 1890, "end_step": 1964, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves towards the small white hollow cylinder on the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the small white hollow cylinder on the table."}, {"label": "goal", "start_step": 1971, "end_step": 2135, "id": "db4053ea-deba-4630-a3c8-6526f140eed5"}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod, then releases the block."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the grip on the block."}, {"label": "goal", "start_step": 2136, "end_step": 2265, "id": "5d6da648-7d0c-4431-9dab-e061e6bdf8ea"}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 2266, "end_step": 2380, "id": "aa35406c-2f3e-476d-b844-2a5c08b9f6c3"}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases its grip."}, {"label": "goal", "start_step": 2381, "end_step": 2475, "id": "5a221d74-0c15-4b7d-aa31-f8fc84c12abb"}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2476, "end_step": 2629, "id": "f90361c7-296f-47dd-ad86-0df84ed54056"}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to the position above the target white tube with a purple protrusion."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the central hole of the green square block with the purple protrusion on the top of the target white tube."}, {"label": "subtasks", "start_step": 2550, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the green square block onto the target white tube, presses it down to a fitted position, and releases its grip on the block."}, {"label": "home", "start_step": 2693, "end_step": 2722, "id": "uUaTecDOPYmsToxcbgOhQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly bends its fingers to adjust posture at the left side of the table, remaining empty and not contacting any object. | Right hand: reach: Right hand moves leftwards toward the green hexagonal block on the black table, remaining empty and not contacting the object."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves leftwards toward the green hexagonal block on the black table, remaining empty and not contacting the object."}, {"label": "subtasks", "start_step": 82, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable contact."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place: Right hand places the white hexagonal nut onto the top end of the purple rod."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by pressing it down along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white block placed on the purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the test tube rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the white hexagonal object with the top of the target purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 735, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: press: Right hand presses the white hexagonal object down along the purple rod to fit it in place."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1267, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downwards towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1431, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift: Right hand lifts the green hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the green block towards the upper part of the white peg on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the white peg."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: press: Right hand presses the green block down along the white peg until it is fully seated."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the green block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with multiple posts."}, {"label": "subtasks", "start_step": 1740, "end_step": 1859, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal block onto the corresponding post on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1964, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves towards the small white hollow cylinder on the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the small white hollow cylinder on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod, then releases the block."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the grip on the block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to the position above the target white tube with a purple protrusion."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the central hole of the green square block with the purple protrusion on the top of the target white tube."}, {"label": "subtasks", "start_step": 2550, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the green square block onto the target white tube, presses it down to a fitted position, and releases its grip on the block."}], "episode_index": 22}
+{"source_uid": "afa3171e8635951d", "num_frames": 2978, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves leftward and downward from its initial right resting position toward the green hexagonal block on the table, with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "45a384c3-320c-4b3f-bf9c-573490abecfc"}, {"label": "valid", "start_step": 0, "end_step": 2952, "id": "THQi_XwinuQqKThm7GWFv"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward until it is fully separated from the table surface."}, {"label": "goal", "start_step": 146, "end_step": 270, "id": "b4b585d9-1532-4671-8f1c-20c3d7ac8ee2"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the green hexagonal block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand adjusts the orientation of the green hexagonal block, aligns its central hole with the purple peg, and moves the block downward to fit onto the peg with minor grip adjustments."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface, with fingers held open."}, {"label": "goal", "start_step": 271, "end_step": 365, "id": "66e4030c-2777-468d-94d4-3f3c8dae6e1d"}, {"label": "subtasks", "start_step": 300, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusting finger positions to close around the nut."}, {"label": "goal", "start_step": 366, "end_step": 515, "id": "bf6fd8be-43ce-4f83-9ced-95a89bcb7aff"}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the leftmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 412, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod, makes small positional adjustments, and lowers the block to fit onto the rod in assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place_release: Right hand places the white hexagonal column onto the corresponding rod of the wooden block stand, opening fingers to release the column."}, {"label": "goal", "start_step": 516, "end_step": 610, "id": "2ffe121a-f0dd-449d-987b-6c3f91cbc806"}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden block stand toward the white hexagonal nut on the front table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to contact and grasp the white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 611, "end_step": 1180, "id": "4e874e68-b86c-4961-b5ca-6cec7299c5ab"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 660, "end_step": 1169, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align and fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward and forward from the top of the wooden assembly base toward the white hexagonal nut placed on the table in front of the base, with fingers open and no contact with the target nut."}, {"label": "goal", "start_step": 1181, "end_step": 1365, "id": "5c872078-ac17-4906-9f66-8f9bf3eaeec7"}, {"label": "subtasks", "start_step": 1222, "end_step": 1364, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, fingers adjust contact positions and close gradually to establish a grip, while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully separated from the black table surface."}, {"label": "goal", "start_step": 1366, "end_step": 1565, "id": "6a3ce6d1-cc14-4129-a83a-b77bf31bba80"}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden assembly rack, moving it directly above the target purple peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1559, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple peg until the nut rests stably on the wooden base of the rack."}, {"label": "goal", "start_step": 1566, "end_step": 1675, "id": "48f3407b-ec6b-453b-b8f4-e23bd1f51dcf"}, {"label": "subtasks", "start_step": 1575, "end_step": 1627, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the green hexagonal block on the black table surface, with fingers held slightly open during movement."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and adjusting contact positions to establish a grip on the block."}, {"label": "goal", "start_step": 1676, "end_step": 1830, "id": "951ada1b-9916-4b3f-9a79-ab87187ea542"}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, moving the block upward and toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central aperture of the green hexagonal block with the target purple peg, making small positional adjustments to fit the block onto the peg while lowering it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1829, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place_release: Right hand lowers the green hexagonal block to rest on the supporting block on the peg, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden peg stand toward the green hexagonal object on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 1831, "end_step": 1920, "id": "e3e4bab5-c285-4046-8b21-c403fd833c09"}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal object on the table, adjusting finger positions to close around the object to form a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the black table surface until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1921, "end_step": 2120, "id": "4c4b4ff1-9ef8-4414-b1f3-5089abe263b3"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the white hexagonal nut, moving it upward and toward the top of the target post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2114, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target post, adjusts the nut position slightly, and moves the nut downward to fit it onto the post until the nut rests stably on the lower supporting block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the upper white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "goal", "start_step": 2121, "end_step": 2205, "id": "75ae1b03-620f-4d92-8490-0ed065b2fe06"}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand contacts the upper white hexagonal nut on the table, gradually closing fingers and adjusting contact positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "goal", "start_step": 2206, "end_step": 2375, "id": "efcb0782-3d3e-4d27-95c6-1d79f4d7fa03"}, {"label": "subtasks", "start_step": 2220, "end_step": 2271, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2272, "end_step": 2369, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2421, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the area near the wooden block rack toward the white hexagonal nut resting on the table surface, remaining empty and not yet contacting the target block."}, {"label": "goal", "start_step": 2376, "end_step": 2490, "id": "bdf2fe7c-38ff-43b5-ad52-061ec94d1961"}, {"label": "subtasks", "start_step": 2422, "end_step": 2489, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers around the block and makes continuous slight adjustments to finger positions to establish a secure grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the white hollow cylinder upward and leftward toward the purple peg on the wooden base."}, {"label": "goal", "start_step": 2491, "end_step": 2645, "id": "a6e9fb5b-34bd-4ed9-8113-5cf5670ef862"}, {"label": "subtasks", "start_step": 2528, "end_step": 2617, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hollow cylinder, aligning its central hole with the top of the purple peg."}, {"label": "subtasks", "start_step": 2618, "end_step": 2639, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place: Right hand moves the aligned white hollow cylinder downward along the purple peg, placing it onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: release: Right hand opens fingers to release contact with the white bottle with purple cap placed on the wooden block stand, lifting fingers slightly away from the bottle top."}, {"label": "goal", "start_step": 2646, "end_step": 2755, "id": "f6fb1979-196b-4fcf-8629-a30083a04b40"}, {"label": "subtasks", "start_step": 2655, "end_step": 2707, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward through empty air toward the green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2708, "end_step": 2759, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green square block to establish a stable grasp on the object."}, {"label": "goal", "start_step": 2756, "end_step": 2905, "id": "73e142cf-1356-40be-b5e1-1b77e035d478"}, {"label": "subtasks", "start_step": 2760, "end_step": 2797, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and leftward to the position directly above the target bottle topped with a purple rod."}, {"label": "subtasks", "start_step": 2798, "end_step": 2909, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple rod, moves the block downward to fit it onto the rod until it rests stably on the white bottle cap."}, {"label": "home", "start_step": 2953, "end_step": 2977, "id": "LnkzigUjvYUNVuCNhYpho"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves leftward and downward from its initial right resting position toward the green hexagonal block on the table, with fingers extended."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the green hexagonal block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand adjusts the orientation of the green hexagonal block, aligns its central hole with the purple peg, and moves the block downward to fit onto the peg with minor grip adjustments."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 300, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusting finger positions to close around the nut."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the leftmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 412, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod, makes small positional adjustments, and lowers the block to fit onto the rod in assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place_release: Right hand places the white hexagonal column onto the corresponding rod of the wooden block stand, opening fingers to release the column."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden block stand toward the white hexagonal nut on the front table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to contact and grasp the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 660, "end_step": 1169, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align and fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward and forward from the top of the wooden assembly base toward the white hexagonal nut placed on the table in front of the base, with fingers open and no contact with the target nut."}, {"label": "subtasks", "start_step": 1222, "end_step": 1364, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, fingers adjust contact positions and close gradually to establish a grip, while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden assembly rack, moving it directly above the target purple peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1559, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple peg until the nut rests stably on the wooden base of the rack."}, {"label": "subtasks", "start_step": 1575, "end_step": 1627, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the green hexagonal block on the black table surface, with fingers held slightly open during movement."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and adjusting contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, moving the block upward and toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central aperture of the green hexagonal block with the target purple peg, making small positional adjustments to fit the block onto the peg while lowering it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1829, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place_release: Right hand lowers the green hexagonal block to rest on the supporting block on the peg, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden peg stand toward the green hexagonal object on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal object on the table, adjusting finger positions to close around the object to form a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the black table surface until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the white hexagonal nut, moving it upward and toward the top of the target post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2114, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target post, adjusts the nut position slightly, and moves the nut downward to fit it onto the post until the nut rests stably on the lower supporting block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the upper white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand contacts the upper white hexagonal nut on the table, gradually closing fingers and adjusting contact positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}, {"label": "subtasks", "start_step": 2220, "end_step": 2271, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2272, "end_step": 2369, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2421, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the area near the wooden block rack toward the white hexagonal nut resting on the table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 2422, "end_step": 2489, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers around the block and makes continuous slight adjustments to finger positions to establish a secure grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the white hollow cylinder upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2528, "end_step": 2617, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hollow cylinder, aligning its central hole with the top of the purple peg."}, {"label": "subtasks", "start_step": 2618, "end_step": 2639, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place: Right hand moves the aligned white hollow cylinder downward along the purple peg, placing it onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: release: Right hand opens fingers to release contact with the white bottle with purple cap placed on the wooden block stand, lifting fingers slightly away from the bottle top."}, {"label": "subtasks", "start_step": 2655, "end_step": 2707, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward through empty air toward the green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2708, "end_step": 2759, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green square block to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2797, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and leftward to the position directly above the target bottle topped with a purple rod."}, {"label": "subtasks", "start_step": 2798, "end_step": 2909, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple rod, moves the block downward to fit it onto the rod until it rests stably on the white bottle cap."}], "episode_index": 23}
+{"source_uid": "46ba4d0aa9762900", "num_frames": 2927, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green cubic block in front of the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 165, "id": "81a9886c-a020-4df8-98bb-6f307b9339ee"}, {"label": "valid", "start_step": 0, "end_step": 2895, "id": "1bGHJQ1C6zb60TEX2coTL"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 166, "end_step": 415, "id": "b7493a8a-66ee-463a-b6ef-0d31cc408bb4"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block."}, {"label": "subtasks", "start_step": 248, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost peg of the pegboard and releases it."}, {"label": "goal", "start_step": 416, "end_step": 560, "id": "b471a30a-e786-4503-8d45-c410a7051612"}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the green base of the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 561, "end_step": 750, "id": "535c4758-fc19-4136-9aef-5837cf355e8a"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base and transports it to the position above the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 592, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand fits the white hexagonal block onto the leftmost purple rod of the test tube rack and presses it down along the rod to the bottom green part."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 751, "end_step": 880, "id": "d80274a9-70e5-47b5-98d9-97ff2d7a2e72"}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper pegboard area toward the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 881, "end_step": 1105, "id": "e10f7adb-8183-4e4d-bcdc-7e6a685b6e31"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden rack, aligning and fitting the block onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple post of the assembly rack and releases the ring."}, {"label": "goal", "start_step": 1106, "end_step": 1205, "id": "7d699d41-7882-4f55-9e3d-4745d88d964f"}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the assembly rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder with a central hole on the black table, fingers closing to secure the grip."}, {"label": "goal", "start_step": 1206, "end_step": 1455, "id": "cda36931-75f6-49a8-8d68-8eac83d5634c"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it upward to the position above the purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white hexagonal cylinder downward, aligning its central hole with the purple peg and inserting the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal cylinder, fingers opening to separate from the cylinder."}, {"label": "goal", "start_step": 1456, "end_step": 1550, "id": "60cbbf05-deac-453b-989f-78c69be04562"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1551, "end_step": 1715, "id": "e79cf427-0a85-46ce-a32c-6a0cf327baa6"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "goal", "start_step": 1716, "end_step": 1820, "id": "f60803e6-5e6c-4992-ba55-0aa10707893d"}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the right area of the black table without moving."}, {"label": "goal", "start_step": 1821, "end_step": 2085, "id": "f07b1535-1285-4b0c-893a-24fce1a94d93"}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the wooden rack with multiple pegs."}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the front-middle vertical peg of the wooden rack by moving it downward."}, {"label": "subtasks", "start_step": 1958, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the front-middle vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the purple rod into the corresponding hole on the wooden pegboard and releases the rod."}, {"label": "goal", "start_step": 2086, "end_step": 2185, "id": "c30546cd-f5d9-442a-80cf-5e6bc24c851e"}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden pegboard."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 2186, "end_step": 2310, "id": "6784cf0a-c9cf-40eb-93f3-2cd250bfa8af"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2309, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple object on top of the rightmost cylinder on the wooden base, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 2311, "end_step": 2390, "id": "d1064912-d726-408b-a2fd-51e4c30c453a"}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the white hexagonal object on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the right side of the table without moving."}, {"label": "goal", "start_step": 2391, "end_step": 2605, "id": "72c3e9b4-bd47-4cd0-8169-45f019c5efb8"}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2451, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it onto the rod to establish assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2594, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward along the purple rod to fit it into the final position."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical piece inserted in the rightmost front white bottle on the wooden rack by opening its fingers."}, {"label": "goal", "start_step": 2606, "end_step": 2705, "id": "039b7e98-3184-4d0c-9675-f77172eaf36d"}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table by closing its fingers and adjusting the grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2706, "end_step": 2850, "id": "21f20d58-7b98-4875-b979-b8b11140aa95"}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the bottle with the purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2759, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion of the bottle and inserts it slightly to establish the assembly relationship."}, {"label": "subtasks", "start_step": 2760, "end_step": 2864, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the axial direction of the bottle until it reaches the lower position of the bottle."}, {"label": "home", "start_step": 2896, "end_step": 2926, "id": "96e-WwSgBx1rApoRcQW98"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green cubic block in front of the left side of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block."}, {"label": "subtasks", "start_step": 248, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost peg of the pegboard and releases it."}, {"label": "subtasks", "start_step": 442, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the green base of the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base and transports it to the position above the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 592, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand fits the white hexagonal block onto the leftmost purple rod of the test tube rack and presses it down along the rod to the bottom green part."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper pegboard area toward the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden rack, aligning and fitting the block onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple post of the assembly rack and releases the ring."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the assembly rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder with a central hole on the black table, fingers closing to secure the grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it upward to the position above the purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white hexagonal cylinder downward, aligning its central hole with the purple peg and inserting the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal cylinder, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the right area of the black table without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the wooden rack with multiple pegs."}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the front-middle vertical peg of the wooden rack by moving it downward."}, {"label": "subtasks", "start_step": 1958, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the front-middle vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the purple rod into the corresponding hole on the wooden pegboard and releases the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden pegboard."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2309, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple object on top of the rightmost cylinder on the wooden base, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the white hexagonal object on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2451, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it onto the rod to establish assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2594, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward along the purple rod to fit it into the final position."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical piece inserted in the rightmost front white bottle on the wooden rack by opening its fingers."}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table by closing its fingers and adjusting the grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the bottle with the purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2759, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion of the bottle and inserts it slightly to establish the assembly relationship."}, {"label": "subtasks", "start_step": 2760, "end_step": 2864, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the axial direction of the bottle until it reaches the lower position of the bottle."}], "episode_index": 24}
+{"source_uid": "1d93b2159850f6ec", "num_frames": 2439, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward towards the green cube located in front of the wooden rack on the black table."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "a1586ce2-76c3-4f31-a545-ff2a5a1d4293"}, {"label": "valid", "start_step": 0, "end_step": 2406, "id": "qM-MRLjUiLv_2nK7oLXex"}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the black table to establish a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface."}, {"label": "goal", "start_step": 141, "end_step": 295, "id": "e3a5488c-b137-4c64-afe3-d5bae5a46067"}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 195, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "goal", "start_step": 296, "end_step": 380, "id": "c35c4a8e-3ad0-4300-816d-633a32a47456"}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to the position above the front left purple rod on the green base."}, {"label": "goal", "start_step": 381, "end_step": 530, "id": "1c1178c9-50bc-4d03-87bc-d7fc020d46cc"}, {"label": "subtasks", "start_step": 405, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front left purple rod by aligning and lowering the block to fit the rod."}, {"label": "goal", "start_step": 531, "end_step": 620, "id": "eb08b50a-c613-4a61-87ed-9c8ef90c4869"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 621, "end_step": 775, "id": "27971450-ac97-48f6-a96b-fe1676ef37ae"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple post of the assembly rack."}, {"label": "goal", "start_step": 776, "end_step": 855, "id": "0456d8a3-0355-4b9e-b1ec-fc462651500f"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "goal", "start_step": 856, "end_step": 1070, "id": "164ca675-0ba6-48ec-977c-53407d2ea662"}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 922, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1071, "end_step": 1150, "id": "4c8a7ef1-4cb0-472c-b049-d2c55e5439cb"}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "goal", "start_step": 1151, "end_step": 1295, "id": "b1f1cb7c-383f-425a-a432-bbb2dbd5d401"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and inserts it down onto the rod."}, {"label": "goal", "start_step": 1296, "end_step": 1375, "id": "c7c1b831-f04b-4b78-9e7a-7e0c1684cc92"}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod after completing the assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to establish grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 1376, "end_step": 1545, "id": "f1fe8a4d-2863-411d-b795-8aff427ef842"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the green base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1546, "end_step": 1625, "id": "7888912b-10dd-4001-a8e9-819a3011ac9d"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1626, "end_step": 1790, "id": "deabe61a-c8e6-4778-a559-76b43506a8f7"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases the block after it is fitted properly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical cap onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1791, "end_step": 1880, "id": "ffd6c17c-59f4-4a7e-9ea7-bcb76d747ee3"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1881, "end_step": 2070, "id": "8668a530-b88b-4185-ac5e-cfed3095c35d"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it down until it reaches the base of the rod."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 2071, "end_step": 2165, "id": "f4628c26-18a5-4532-a3a5-77830c025993"}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the lower right area of the table."}, {"label": "goal", "start_step": 2166, "end_step": 2360, "id": "1b46db06-13ee-4359-8c83-b2c47a11d870"}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white tube rack in the center of the table."}, {"label": "subtasks", "start_step": 2205, "end_step": 2347, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white tube with purple tip on the rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block from its grip."}, {"label": "home", "start_step": 2407, "end_step": 2438, "id": "UUrzGfA8I8qVOEz-erZVT"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward towards the green cube located in front of the wooden rack on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the black table to establish a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 195, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to the position above the front left purple rod on the green base."}, {"label": "subtasks", "start_step": 405, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front left purple rod by aligning and lowering the block to fit the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple post of the assembly rack."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 922, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod after completing the assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to establish grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the green base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves fingers away from the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases the block after it is fitted properly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical cap onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it down until it reaches the base of the rod."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 2092, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white tube rack in the center of the table."}, {"label": "subtasks", "start_step": 2205, "end_step": 2347, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white tube with purple tip on the rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block from its grip."}], "episode_index": 25}
+{"source_uid": "6ab154d216c1c2ac", "num_frames": 2721, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves slightly downward and forward to the left home position, with fingers slightly curled inward to adjust posture. | Right hand: idle: Right hand remains empty at the right initial position without any observable movement or posture change."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "f4a8c144-d6bd-47be-9696-6e762f4872b5"}, {"label": "valid", "start_step": 0, "end_step": 2686, "id": "Tp2EOPpX1mK7OAzNJd2HN"}, {"label": "subtasks", "start_step": 22, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: idle: Right hand remains empty at the right initial position without any observable movement or posture change."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal nut placed in front of the wooden block base, with fingers slightly open during movement."}, {"label": "subtasks", "start_step": 75, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand contacts the green hexagonal nut in front of the wooden block base, closes fingers around the nut, and makes small adjustments to wrist and finger positions to form a stable grasp."}, {"label": "goal", "start_step": 156, "end_step": 300, "id": "2715e9e4-796c-46f1-a385-7bac7d2479c5"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating it from the original purple rod."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally leftward to position it directly above the target purple rod."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the target purple rod without observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the position near the wooden peg stand toward the front white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 301, "end_step": 395, "id": "c747a392-2cb2-4c25-aadb-6b48628f658c"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal block, establishing contact with the block to form a grip."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the front white hexagonal block steadily, with no observable movement of the hand, fingers, or the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts the block upward until it is completely raised off the table."}, {"label": "goal", "start_step": 396, "end_step": 520, "id": "e09c49b7-8809-49e6-a625-06fdbd386f4e"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden assembly stand, moving the block directly above an empty purple post on the stand."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post below and lowers the block to fit it onto the post, making slight positional adjustments to achieve proper alignment."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the purple peg of the wooden peg base."}, {"label": "goal", "start_step": 521, "end_step": 605, "id": "43af3d9f-4c22-416c-83bf-f0d642e11833"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward empty from the wooden peg base toward the white hexagonal nut block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut block on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 606, "end_step": 740, "id": "2e72f73e-017e-4307-99f6-014bc31c540a"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 652, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes fine position adjustments to align the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the position above the wooden peg assembly toward the white hexagonal block on the adjacent table surface, without touching the block."}, {"label": "goal", "start_step": 741, "end_step": 825, "id": "6774d2de-13a3-4010-b219-a9c271ae0a4f"}, {"label": "subtasks", "start_step": 772, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing around the block to form a grasp."}, {"label": "goal", "start_step": 826, "end_step": 1025, "id": "4926050f-45f2-4e6e-be9a-b7331d80194f"}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface, moves the block to position it directly above the purple vertical rod on the wooden peg base."}, {"label": "subtasks", "start_step": 885, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1012, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to slide onto the corresponding purple peg on the wooden pegboard until the block rests on the base, and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 1026, "end_step": 1110, "id": "ad9f1118-728a-49c3-bbe5-b0e7d0e9fc7b"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the green hexagonal block on the black table surface, remaining empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and adjusting contact positions to establish a grip on the block."}, {"label": "goal", "start_step": 1111, "end_step": 1260, "id": "17248cf3-c878-4d14-89c9-d4d93997c282"}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward with open fingers from the area above the wooden block set toward the white hexagonal block on the black table surface, approaching the target block."}, {"label": "goal", "start_step": 1261, "end_step": 1340, "id": "f0af8606-bd27-4357-aa9f-f4d48ca08317"}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1341, "end_step": 1810, "id": "0d548bd0-70c6-4635-ad13-995bb1bcc718"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the green block on the wooden stacking base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes small lateral and rotational adjustments to align the central hole of the white hexagonal block with the vertical peg on the green block, gradually moving the block downward toward the green block surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1717, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reorient: Right hand lifts the white hexagonal block slightly upward and rotates it about a quarter turn to adjust the alignment of its central hole relative to the green block peg, with minimal lateral movement."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand adjusts the reoriented white hexagonal block to align its central hole with the green block peg, gradually moving the block downward toward the green block surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward and rightward from its initial position near the stacked block set, approaching the white hexagonal nut placed on the table to the right of the wooden block base, with fingers open and no contact made with the nut."}, {"label": "goal", "start_step": 1811, "end_step": 1965, "id": "81076f93-8494-4326-bc9d-f9dbb2ed8ec2"}, {"label": "subtasks", "start_step": 1868, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers close and make subtle adjustments to grip position, while the nut remains supported by the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand grips the white hexagonal nut, lifts it completely off the black table surface, and moves it upward and leftward to the position directly above the purple post on the wooden block stand."}, {"label": "goal", "start_step": 1966, "end_step": 2095, "id": "ac49ebac-f5b7-4943-8406-f87706f21762"}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple post on the wooden block stand, moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod of the wooden rack, separating from the nut."}, {"label": "goal", "start_step": 2096, "end_step": 2190, "id": "e7c97e34-afbc-4868-8bb7-fcd2c37e040f"}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut placed on the dark table surface, with no contact to the nut during this movement."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the white hexagonal nut on the table, forming a stable grip while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand moves upward while holding the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "goal", "start_step": 2191, "end_step": 2420, "id": "9a4fb285-0f98-4f7f-8104-47d0c1878c8a"}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple rod, fits the block onto the rod, lowers it to rest on the supporting piece below, and releases the block by opening the fingers."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: retreat: Right hand moves downward and rightward away from the wooden block assembly base, retreating from the previous block operation area."}, {"label": "goal", "start_step": 2421, "end_step": 2505, "id": "60971447-bb29-4930-8c56-09c686addc38"}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves toward the green holed block on the lower right of the table, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the green holed block, closing fingers and making small adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand lifts the green cubic block upward until the block is completely separated from the table surface."}, {"label": "goal", "start_step": 2506, "end_step": 2640, "id": "0cc5b640-e3f2-41df-8cf8-083b24fd623a"}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand carries the green cubic block and moves it leftward to the position directly above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2565, "end_step": 2631, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the front-right bottle, moves the block downward to fit it onto the bottle until the block is supported by the bottle."}, {"label": "subtasks", "start_step": 2632, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens fingers to release the green cubic block fitted on the bottle, separating from the block."}, {"label": "home", "start_step": 2687, "end_step": 2720, "id": "sy7lA_-eXZp2aXHGhlme7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves slightly downward and forward to the left home position, with fingers slightly curled inward to adjust posture. | Right hand: idle: Right hand remains empty at the right initial position without any observable movement or posture change."}, {"label": "subtasks", "start_step": 22, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: idle: Right hand remains empty at the right initial position without any observable movement or posture change."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal nut placed in front of the wooden block base, with fingers slightly open during movement."}, {"label": "subtasks", "start_step": 75, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand contacts the green hexagonal nut in front of the wooden block base, closes fingers around the nut, and makes small adjustments to wrist and finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating it from the original purple rod."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally leftward to position it directly above the target purple rod."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the target purple rod without observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the position near the wooden peg stand toward the front white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal block, establishing contact with the block to form a grip."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the front white hexagonal block steadily, with no observable movement of the hand, fingers, or the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts the block upward until it is completely raised off the table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden assembly stand, moving the block directly above an empty purple post on the stand."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post below and lowers the block to fit it onto the post, making slight positional adjustments to achieve proper alignment."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the purple peg of the wooden peg base."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward empty from the wooden peg base toward the white hexagonal nut block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut block on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 652, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes fine position adjustments to align the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the position above the wooden peg assembly toward the white hexagonal block on the adjacent table surface, without touching the block."}, {"label": "subtasks", "start_step": 772, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing around the block to form a grasp."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface, moves the block to position it directly above the purple vertical rod on the wooden peg base."}, {"label": "subtasks", "start_step": 885, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1012, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to slide onto the corresponding purple peg on the wooden pegboard until the block rests on the base, and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the green hexagonal block on the black table surface, remaining empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and adjusting contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod on the wooden rack."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward with open fingers from the area above the wooden block set toward the white hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the green block on the wooden stacking base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes small lateral and rotational adjustments to align the central hole of the white hexagonal block with the vertical peg on the green block, gradually moving the block downward toward the green block surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1717, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reorient: Right hand lifts the white hexagonal block slightly upward and rotates it about a quarter turn to adjust the alignment of its central hole relative to the green block peg, with minimal lateral movement."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand adjusts the reoriented white hexagonal block to align its central hole with the green block peg, gradually moving the block downward toward the green block surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward and rightward from its initial position near the stacked block set, approaching the white hexagonal nut placed on the table to the right of the wooden block base, with fingers open and no contact made with the nut."}, {"label": "subtasks", "start_step": 1868, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers close and make subtle adjustments to grip position, while the nut remains supported by the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand grips the white hexagonal nut, lifts it completely off the black table surface, and moves it upward and leftward to the position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple post on the wooden block stand, moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod of the wooden rack, separating from the nut."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut placed on the dark table surface, with no contact to the nut during this movement."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the white hexagonal nut on the table, forming a stable grip while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand moves upward while holding the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2235, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple rod, fits the block onto the rod, lowers it to rest on the supporting piece below, and releases the block by opening the fingers."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: retreat: Right hand moves downward and rightward away from the wooden block assembly base, retreating from the previous block operation area."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves toward the green holed block on the lower right of the table, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the green holed block, closing fingers and making small adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand lifts the green cubic block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand carries the green cubic block and moves it leftward to the position directly above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2565, "end_step": 2631, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the front-right bottle, moves the block downward to fit it onto the bottle until the block is supported by the bottle."}, {"label": "subtasks", "start_step": 2632, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens fingers to release the green cubic block fitted on the bottle, separating from the block."}], "episode_index": 26}
+{"source_uid": "904b5d263ff8bc42", "num_frames": 2193, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers opening slightly at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "a4c7e978-cdc7-4ef3-8116-ed6715637f6d"}, {"label": "valid", "start_step": 0, "end_step": 2164, "id": "aWOp5XIp2RfJOjgzZb9HW"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table below the left side of the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hollow hexagonal block from the black worktable surface."}, {"label": "goal", "start_step": 141, "end_step": 315, "id": "451f4528-b471-4951-8148-bf25679d03cb"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hollow hexagonal block to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hollow hexagonal block onto the leftmost peg, sliding it downward along the peg to complete assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the rightmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 316, "end_step": 395, "id": "2537024d-23f2-4034-bb6e-2480dec90964"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green base on the black table."}, {"label": "goal", "start_step": 396, "end_step": 535, "id": "dce2134c-737a-4fa5-ad4a-3222791ab9ec"}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the top of a purple test tube in the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves downward to mate the white hexagonal block onto the top of the purple test tube."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple test tube without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal component onto the purple post of the central rack and releases its grip."}, {"label": "goal", "start_step": 536, "end_step": 620, "id": "57481276-03bc-4148-b5ae-41b02c337060"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing around the object to form a stable grip."}, {"label": "goal", "start_step": 621, "end_step": 795, "id": "4b1fd4e8-c79c-4b62-9c8f-0518b44e014b"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table surface and transports it upward and leftward toward the test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the top of the front-left purple test tube and fits it onto the test tube."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal object downward along the purple test tube to secure it in place."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers and separating from the object."}, {"label": "goal", "start_step": 796, "end_step": 880, "id": "172d00c3-2663-4538-8112-f0a9a15723aa"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 881, "end_step": 1035, "id": "2e4fdb2c-5bbf-4a67-bf5f-31356a4e5147"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part off the table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 915, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand lowers the white hollow cylindrical part along the purple peg on the wooden rack to complete mating, and releases its grip once the part is fully seated."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the lower right area of the table with an empty hand."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the purple rod to approach the green hexagonal block on the table, without contact."}, {"label": "goal", "start_step": 1036, "end_step": 1085, "id": "b970d027-c5e0-47f8-a659-daff7aeb775e"}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1086, "end_step": 1275, "id": "cf08046b-4e8d-4c7a-9dcc-3939ade319ed"}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward and leftward to the position above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target white post and moves downward to fit the block onto the post."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden rack."}, {"label": "goal", "start_step": 1276, "end_step": 1350, "id": "a0507da4-3d64-4928-887f-7acb6c9d65a0"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1351, "end_step": 1505, "id": "9dd64595-2e01-4764-9346-ce0d2a6d7ef6"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, moving downward to fit the block's hole over the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden rack, with fingers opening."}, {"label": "goal", "start_step": 1506, "end_step": 1585, "id": "da3df1e9-ca07-42cd-9d2d-87da384db3bc"}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the black table, with fingers closing around the block."}, {"label": "goal", "start_step": 1586, "end_step": 1710, "id": "633d3339-9bbb-45f5-9426-c7f37314a35b"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, lowering the block to fit around the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1711, "end_step": 1790, "id": "8bd0cacb-ee9d-494a-9d88-e82944705ad4"}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1791, "end_step": 1915, "id": "cfa94c94-16a3-4faf-b58e-7c02d4ffb866"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers open and separate from the block."}, {"label": "goal", "start_step": 1916, "end_step": 1990, "id": "85ce74d1-b3ea-424c-964e-eb6ff870fcbf"}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple small component into the front-right white bottle on the wooden rack and releases the component."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table with empty hand."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers adjusting to fit the block shape."}, {"label": "goal", "start_step": 1991, "end_step": 2120, "id": "98782eb3-c7bc-46b8-8ac7-be93973557a6"}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward, making the block completely leave the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the right-front white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the right-front white bottle, aligning and fitting the hollow block onto the bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the top of the right-front white bottle without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2165, "end_step": 2192, "id": "nNpDYtLSyIgNRfYiH6OiX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers opening slightly at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table below the left side of the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hollow hexagonal block from the black worktable surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hollow hexagonal block to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hollow hexagonal block onto the leftmost peg, sliding it downward along the peg to complete assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the rightmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green base on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the top of a purple test tube in the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves downward to mate the white hexagonal block onto the top of the purple test tube."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple test tube without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal component onto the purple post of the central rack and releases its grip."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table surface and transports it upward and leftward toward the test tube rack."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the top of the front-left purple test tube and fits it onto the test tube."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal object downward along the purple test tube to secure it in place."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers and separating from the object."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part off the table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 915, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand lowers the white hollow cylindrical part along the purple peg on the wooden rack to complete mating, and releases its grip once the part is fully seated."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the lower right area of the table with an empty hand."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the purple rod to approach the green hexagonal block on the table, without contact."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward and leftward to the position above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target white post and moves downward to fit the block onto the post."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, moving downward to fit the block's hole over the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, lowering the block to fit around the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple small component into the front-right white bottle on the wooden rack and releases the component."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table with empty hand."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers adjusting to fit the block shape."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward, making the block completely leave the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the right-front white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the right-front white bottle, aligning and fitting the hollow block onto the bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the top of the right-front white bottle without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}], "episode_index": 27}
+{"source_uid": "5e937cf152771e38", "num_frames": 2369, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves toward the green cube located at the left front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "ea7759fe-8fba-4824-82d4-f090eeff063d"}, {"label": "valid", "start_step": 0, "end_step": 2339, "id": "TXdxpXTHzLT58r74op0n2"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube located at the left front of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 141, "end_step": 325, "id": "582f869f-26be-4e65-afb1-dee16e87a697"}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple pillar and inserts it downwards to finish the assembly."}, {"label": "goal", "start_step": 326, "end_step": 420, "id": "6a312090-6136-4774-960f-c20c8f57a3e2"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 421, "end_step": 580, "id": "86872ef1-43c7-4ac9-ba21-7ed350bfe5e5"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by aligning the block's hole with the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down along the leftmost purple rod until it rests on the green base at the bottom of the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the green base."}, {"label": "goal", "start_step": 581, "end_step": 680, "id": "9d26194b-e170-427a-b37e-08ed8413b6d8"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 681, "end_step": 865, "id": "8573715d-0454-494a-aaac-cc4954a71800"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 712, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod of the test tube rack."}, {"label": "goal", "start_step": 866, "end_step": 955, "id": "5e88473a-609e-4f1c-bbec-0ceb55284b59"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 956, "end_step": 1120, "id": "463de0cb-88a0-4457-9c98-29149a86c3d8"}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and pushes it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the peg."}, {"label": "goal", "start_step": 1121, "end_step": 1185, "id": "a853379b-5ee3-402d-9087-057174447054"}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 1186, "end_step": 1345, "id": "8d5c88cc-2ec4-4fb3-a8a2-eabe5e6c80fe"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the desktop and transports it towards the white post on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target white post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the white post until it is fully seated on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white peg on the wooden base."}, {"label": "goal", "start_step": 1346, "end_step": 1430, "id": "1aedfa27-6bb8-4813-99d8-b3762d78f310"}, {"label": "subtasks", "start_step": 1372, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1431, "end_step": 1565, "id": "055c5001-3e77-4789-acb4-707cb8decb18"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until the block is supported by the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "goal", "start_step": 1566, "end_step": 1635, "id": "a19bfb77-ada0-4d06-bad4-07bf0db217a1"}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1636, "end_step": 1765, "id": "d8100242-4fff-4fc6-89cb-79f45916a81e"}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole and pressing it down."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats from the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table, not making contact with the block yet."}, {"label": "goal", "start_step": 1766, "end_step": 1875, "id": "9a59b993-8c5f-4a70-933a-8e878aa5360f"}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers again to re-grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table surface and transports it to the upper position of the purple peg on the wooden rack."}, {"label": "goal", "start_step": 1876, "end_step": 2020, "id": "0403266c-cf3f-4f2c-828d-130b89546f03"}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the empty position of the wooden base."}, {"label": "goal", "start_step": 2021, "end_step": 2120, "id": "ae233764-cc38-4e89-8c89-c54398b0e055"}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 2121, "end_step": 2305, "id": "27062783-4ca4-4849-9a22-b85f2ffa39f0"}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the white pillar by inserting the pillar into the hole of the green block."}, {"label": "home", "start_step": 2340, "end_step": 2368, "id": "70s5wndlrC9rMV15P4Pli"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves toward the green cube located at the left front of the wooden rack."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube located at the left front of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 337, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple pillar and inserts it downwards to finish the assembly."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by aligning the block's hole with the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down along the leftmost purple rod until it rests on the green base at the bottom of the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 712, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and pushes it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the desktop and transports it towards the white post on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target white post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the white post until it is fully seated on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until the block is supported by the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole and pressing it down."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats from the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table, not making contact with the block yet."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers again to re-grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table surface and transports it to the upper position of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the empty position of the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the white pillar by inserting the pillar into the hole of the green block."}], "episode_index": 28}
+{"source_uid": "0fdc63af81626a59", "num_frames": 2152, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves from its initial right-side resting position toward the front-left green hexagonal nut on the table, with fingers extended as it approaches the target."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "08f36eb7-41fc-43b1-8efc-31563c7b975c"}, {"label": "valid", "start_step": 0, "end_step": 2122, "id": "gA-MbYJcO8M33PAYgWJEC"}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the front-left green hexagonal nut near the wooden peg board, adjusting finger positions and wrist angle to establish a grip on the nut."}, {"label": "goal", "start_step": 141, "end_step": 265, "id": "8c75ff39-6bfd-4444-9d3c-f82aae31a784"}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above a purple post on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the purple post, and fits the block onto the post to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard, fingers opening to release the nut once it rests on the supporting structure."}, {"label": "goal", "start_step": 266, "end_step": 340, "id": "87e6c9c9-0c42-4e45-9144-f67096db8d1e"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach_grasp: Right hand moves downward to approach the white hexagonal nut on the black tabletop, fingers closing around the nut to establish a firm grip."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface with no visible movement of the hand, fingers or the gripped object."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand adjusts finger positions to close around and securely grasp the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 341, "end_step": 470, "id": "9432f1ed-038b-4867-be83-93068b274b36"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the area above the target purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 375, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align it with the target purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves downwards from the area near the wooden pegboard toward the white hexagonal nut on the black table surface, staying empty before making contact with the nut."}, {"label": "goal", "start_step": 471, "end_step": 555, "id": "95b0532f-6e3c-4914-a042-ddc8514c1f61"}, {"label": "subtasks", "start_step": 510, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and make small adjustments to form a grasp on the nut, which remains resting on the table surface."}, {"label": "goal", "start_step": 556, "end_step": 715, "id": "ada1aade-0e93-4625-94f7-a361bee9c78d"}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table and moves it upward to position directly above the unoccupied purple rod on the wooden component rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, makes small positional adjustments, and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple post of the wooden base, and opens fingers to release the settled block."}, {"label": "goal", "start_step": 716, "end_step": 795, "id": "6cb0b118-450c-47a2-84c9-e2b6f9f10f23"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting contact positions to establish a grip."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and forward to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 796, "end_step": 910, "id": "03b0092d-f4f4-4aa2-a47a-12a8da5a1197"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 848, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the purple peg of the wooden assembly base, with fingers opening to release the block."}, {"label": "goal", "start_step": 911, "end_step": 980, "id": "dc1d4e31-7f40-4a77-b7d8-9aaa8979e373"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward and leftward across the black table surface toward the green hexagonal block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grip."}, {"label": "goal", "start_step": 981, "end_step": 1115, "id": "9c916e85-4b68-4963-a3cd-e8d6eca933f0"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand places the green hexagonal block onto the post of the wooden assembly base and releases the block with fingers opening."}, {"label": "goal", "start_step": 1116, "end_step": 1190, "id": "1079fbfd-0eb1-45db-ac76-c01f2a719d45"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes and adjusts fingers to form a grip on the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1191, "end_step": 1325, "id": "3dab0144-d1b6-4e4c-829e-2614f10a8736"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly base and adjusts its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand positions the white cylindrical object upright into the hole on the wooden base, fingers opening to release contact with the stabilized object."}, {"label": "goal", "start_step": 1326, "end_step": 1400, "id": "f43d9888-142f-49b0-a016-6f547be38df3"}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish contact and form a grasp."}, {"label": "goal", "start_step": 1401, "end_step": 1585, "id": "fab3725b-54c4-42fb-a0d3-0417bbeb5eac"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the white hexagonal hole on the wooden base, until the cylinder is stably supported by the base."}, {"label": "goal", "start_step": 1586, "end_step": 1675, "id": "65c1a086-0f34-4558-9d66-deb6b0102849"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the inserted light purple cylinder, separating the hand from the cylinder surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty in a down-right direction toward the white hexagonal nut placed on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1676, "end_step": 1810, "id": "5cd08798-55d8-413e-85c0-76be420e6562"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden holder and lowers the block to insert it into the slot, making slight positional adjustments to fit the block properly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the white cylindrical block with purple rod resting on the wooden block rack."}, {"label": "goal", "start_step": 1811, "end_step": 1885, "id": "c957f8e7-086f-46d1-a76d-550eeafbc6a8"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty in a downward-right direction toward the small green hollow square block on the dark table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the small green hollow square block and adjusts finger positions while closing to establish a grip on the block."}, {"label": "goal", "start_step": 1886, "end_step": 2080, "id": "4568be42-b32a-436a-a495-01f1d7f4f9fe"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and transports it upward toward the top of the wooden block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the hollow green block with the purple-topped white post on the rack, making slight positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the green block seated securely on the post."}, {"label": "home", "start_step": 2123, "end_step": 2151, "id": "VEMwz85zwMRi1f-bzYZOy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves from its initial right-side resting position toward the front-left green hexagonal nut on the table, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the front-left green hexagonal nut near the wooden peg board, adjusting finger positions and wrist angle to establish a grip on the nut."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above a purple post on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the purple post, and fits the block onto the post to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard, fingers opening to release the nut once it rests on the supporting structure."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach_grasp: Right hand moves downward to approach the white hexagonal nut on the black tabletop, fingers closing around the nut to establish a firm grip."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface with no visible movement of the hand, fingers or the gripped object."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand adjusts finger positions to close around and securely grasp the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the area above the target purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 375, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align it with the target purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves downwards from the area near the wooden pegboard toward the white hexagonal nut on the black table surface, staying empty before making contact with the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and make small adjustments to form a grasp on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table and moves it upward to position directly above the unoccupied purple rod on the wooden component rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, makes small positional adjustments, and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple post of the wooden base, and opens fingers to release the settled block."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting contact positions to establish a grip."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and forward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 848, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the purple peg of the wooden assembly base, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward and leftward across the black table surface toward the green hexagonal block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand places the green hexagonal block onto the post of the wooden assembly base and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes and adjusts fingers to form a grip on the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly base and adjusts its position to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand positions the white cylindrical object upright into the hole on the wooden base, fingers opening to release contact with the stabilized object."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish contact and form a grasp."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 1508, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the white hexagonal hole on the wooden base, until the cylinder is stably supported by the base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the inserted light purple cylinder, separating the hand from the cylinder surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty in a down-right direction toward the white hexagonal nut placed on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden holder and lowers the block to insert it into the slot, making slight positional adjustments to fit the block properly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the white cylindrical block with purple rod resting on the wooden block rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty in a downward-right direction toward the small green hollow square block on the dark table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the small green hollow square block and adjusts finger positions while closing to establish a grip on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and transports it upward toward the top of the wooden block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the hollow green block with the purple-topped white post on the rack, making slight positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the green block seated securely on the post."}], "episode_index": 29}
+{"source_uid": "81e0e733e7735a9c", "num_frames": 2247, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "37de4454-1834-4e40-8f9b-cfa06b449493"}, {"label": "valid", "start_step": 0, "end_step": 2218, "id": "FKFEs-vnAZJpUc_HlFCZp"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the target purple peg on the wooden base."}, {"label": "goal", "start_step": 136, "end_step": 265, "id": "14cd5498-6ed5-49d0-a1a5-ec8e524a48a2"}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fix it in position."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 266, "end_step": 350, "id": "9568faa1-172b-4289-b24d-0a44f225c317"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface with finger adjustments."}, {"label": "goal", "start_step": 351, "end_step": 480, "id": "754cdcdc-1cfa-4de4-9a30-8628db2a2758"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 481, "end_step": 560, "id": "cf78d0ab-c3a3-43d7-b761-f4d871265107"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 561, "end_step": 715, "id": "6701dd96-20e7-4e16-be9a-7cacaccb5eba"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 716, "end_step": 810, "id": "2a14f183-c816-46c7-9845-b9a4f20deb3c"}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 811, "end_step": 975, "id": "18e377cd-9637-45bd-9d63-28c8c0d73f11"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white hexagonal block down to the bottom of the purple rod."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 976, "end_step": 1080, "id": "227d6129-76fd-4057-83b6-4d3862609039"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward from the pegged wooden board towards the green hollow block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand touches the green hollow block on the table, fingers adjusting to form a stable grasp."}, {"label": "goal", "start_step": 1081, "end_step": 1275, "id": "e811799e-a818-42fb-b050-84d5caf4c0c1"}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the green block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1162, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the green block down onto the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the green block on the purple rod and moves slightly upward."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white ring onto the peg of the wooden base."}, {"label": "goal", "start_step": 1276, "end_step": 1365, "id": "f65b326b-b746-469d-ae4b-d1f190ab5eba"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring placed on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1366, "end_step": 1505, "id": "4359df69-3668-4907-b60d-132d75dd1f57"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the green block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, fingers open gradually."}, {"label": "goal", "start_step": 1506, "end_step": 1585, "id": "d21e5a37-1531-4d51-af12-0937e526d3d9"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close gradually to establish grip."}, {"label": "goal", "start_step": 1586, "end_step": 1735, "id": "6fca476a-95ca-4ced-836d-adc3e8887618"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's central hole."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white cylindrical component down onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1736, "end_step": 1820, "id": "14eefa80-91c8-4a6b-819c-f627dca500e9"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1821, "end_step": 1915, "id": "f90327ab-d1a5-4bd2-87a8-a41d8c768972"}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 1916, "end_step": 1995, "id": "2dd9b9b5-b360-49c8-bd18-502f8d050cd0"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp_release: Right hand grasps and adjusts the white bottle with purple top on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the green cube on the black table."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand reaches towards the green cube placed on the black table."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the green cube on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1996, "end_step": 2180, "id": "e2ca5871-edb2-4343-b9b3-7bf06dcd0fa0"}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the green block from its grasp."}, {"label": "home", "start_step": 2219, "end_step": 2246, "id": "p7W7nJxm8Wm-5Jgr9IFuy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fix it in position."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface with finger adjustments."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white hexagonal block down to the bottom of the purple rod."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward from the pegged wooden board towards the green hollow block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand touches the green hollow block on the table, fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the green block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1162, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the green block down onto the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 1268, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the green block on the purple rod and moves slightly upward."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white ring onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring placed on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the green block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, fingers open gradually."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close gradually to establish grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's central hole."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white cylindrical component down onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp_release: Right hand grasps and adjusts the white bottle with purple top on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the green cube on the black table."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand reaches towards the green cube placed on the black table."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the green cube on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the green block from its grasp."}], "episode_index": 30}
+{"source_uid": "0cda3d9fe2ed4bf1", "num_frames": 2747, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from the initial upper-left position toward the central workspace, with fingers slightly adjusting during the movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers extended as it approaches the target."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "a260161a-2fac-4997-a923-12ad84dee5ce"}, {"label": "valid", "start_step": 0, "end_step": 2717, "id": "KPdYtys47eWHc3rF_GR4E"}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block in front of the wooden peg board, adjusting wrist and finger positions to form a secure grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the green hexagonal block steadily in front of the wooden peg board, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface to establish a stable grasp."}, {"label": "goal", "start_step": 171, "end_step": 300, "id": "bbb8146e-6dd5-4700-a1d4-a137e53813a3"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg, completing the assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard to approach the white hexagonal nut on the black table surface, with fingers slightly open."}, {"label": "goal", "start_step": 301, "end_step": 405, "id": "52885a8a-9df7-469f-8c10-0ccd4fd7a3ca"}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand adjusts finger positions incrementally and closes fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand grips the white hexagonal nut on the green support block and lifts it upward until the nut is fully separated from the block."}, {"label": "goal", "start_step": 406, "end_step": 535, "id": "ac463aa4-3225-411a-bf43-3a6d6fbdf7e8"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 442, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: press: Right hand presses the top of the white and green cylindrical block on the purple peg to fully seat it on the wooden pegboard."}, {"label": "goal", "start_step": 536, "end_step": 625, "id": "437c5908-3722-4137-809a-8e02bffd269f"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 626, "end_step": 845, "id": "227a1305-5b18-469f-a96a-d27814eddfe1"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg as part of the assembly process."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand releases the white capped block seated on the purple peg, opening fingers and moving downward away from the block to end contact."}, {"label": "goal", "start_step": 846, "end_step": 940, "id": "fe322c9c-a28b-42c4-bd4a-d55cf3dd2aa8"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block positioned directly in front of the wooden peg base, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, adjusting finger placement and closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 941, "end_step": 1045, "id": "7dc61b3e-d04e-4726-9224-1902032d8ef1"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: place_release: Right hand positions the white hexagonal block onto the short peg of the wooden board until the block is stably supported, with fingers opening to release contact with the block."}, {"label": "goal", "start_step": 1046, "end_step": 1120, "id": "3921704b-6798-445b-9779-1eaca44e3aa8"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward with open fingers to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closes fingers and adjusts grip to establish stable contact with the block."}, {"label": "goal", "start_step": 1121, "end_step": 1230, "id": "47b137fd-2659-47bd-8331-6e74e8e29b46"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, moves the block downward to nest onto the rod, and opens its fingers to release the block onto the rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple vertical rod on the wooden assembly base, opens fingers to release the block as it becomes stably supported by the rod."}, {"label": "goal", "start_step": 1231, "end_step": 1305, "id": "a0422ab5-80a0-442a-9792-2add932c1976"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves empty downward and leftward from the assembly base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block, and makes small adjustments to finger contact positions to establish a firm grip."}, {"label": "goal", "start_step": 1306, "end_step": 1680, "id": "50764f62-4979-41fd-982b-675af8c953ba"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the area above the wooden block assembly base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1657, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand adjusts the white hexagonal nut to align with the vertical rod on the wooden block base, fits the nut onto the rod, and opens fingers to release the nut in place."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: retreat: Right hand moves empty away from the wooden block assembly toward the right side of the workspace."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves down and left toward the nearest white hexagonal block next to the wooden block stand with an open hand, no contact with the block yet."}, {"label": "goal", "start_step": 1681, "end_step": 1790, "id": "62cce01b-c3ea-4627-8d5b-d9ede6b5ceb9"}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the nearest white hexagonal block next to the wooden block stand, making small adjustments to establish grip on the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, lifting it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1791, "end_step": 1960, "id": "37aca05f-7449-4efc-b60f-17c56e46bfd9"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden assembly base, positioning the nut directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowering the nut to fit it onto the rod until it rests on the stacked block below."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating from the nut on the purple rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward from the area adjacent to the block rack toward the first white hexagonal nut on the black table surface, with fingers slightly open."}, {"label": "goal", "start_step": 1961, "end_step": 2160, "id": "70031e61-599e-46ed-a31e-2665ff9b3b24"}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the first white hexagonal nut on the table, adjusts finger contact positions and slightly rotates the nut on the table surface to form a grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand opens fingers to release the first white hexagonal nut, fully separating from the nut which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves toward the second white hexagonal nut positioned next to the small green block on the table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the second white hexagonal nut adjacent to the green block, adjusting finger positions to begin forming a grip on the nut."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 2161, "end_step": 2320, "id": "6cb6fae2-ef76-4f30-b48c-a854f4766c98"}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the white hexagonal block, moving it leftward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2212, "end_step": 2309, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly, aligns its central hole with the purple rod, and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand releases the light purple-topped white cylindrical piece seated on the rightmost peg of the wooden base, fingers opening to separate completely from the piece."}, {"label": "goal", "start_step": 2321, "end_step": 2510, "id": "fa243f3e-f849-4ac9-80d2-ac164eed8120"}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves empty downward from the wooden peg base area toward the small green square block on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand fingers close around the small green square block on the table, making small wrist and finger adjustments to form a grip, shifting the block slightly on the table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand maintains a light static grip on the small green square block on the table surface, with no wrist, finger or block movement."}, {"label": "subtasks", "start_step": 2498, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand makes small finger and wrist adjustments to its grip on the small green square block, repositioning contact points on the block surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the green ring with closed fingers and lifts it vertically upward until the ring fully leaves the dark table surface."}, {"label": "goal", "start_step": 2511, "end_step": 2675, "id": "26edc44c-63e7-4998-996d-8e81e66c7cdc"}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the grasped green ring, moving it upward and leftward through the air to the position directly above the target white peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2565, "end_step": 2684, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand aligns the green ring with the target white peg, lowers the ring to nest it onto the peg, opens fingers to release the ring resting stably on the peg."}, {"label": "home", "start_step": 2718, "end_step": 2746, "id": "zkaW6EIa5bp9k8rACjEa5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from the initial upper-left position toward the central workspace, with fingers slightly adjusting during the movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 30, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block in front of the wooden peg board, adjusting wrist and finger positions to form a secure grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the green hexagonal block steadily in front of the wooden peg board, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg, completing the assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard to approach the white hexagonal nut on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand adjusts finger positions incrementally and closes fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand grips the white hexagonal nut on the green support block and lifts it upward until the nut is fully separated from the block."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 442, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: press: Right hand presses the top of the white and green cylindrical block on the purple peg to fully seat it on the wooden pegboard."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg as part of the assembly process."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand releases the white capped block seated on the purple peg, opening fingers and moving downward away from the block to end contact."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block positioned directly in front of the wooden peg base, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 885, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, adjusting finger placement and closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: place_release: Right hand positions the white hexagonal block onto the short peg of the wooden board until the block is stably supported, with fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward with open fingers to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closes fingers and adjusts grip to establish stable contact with the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, moves the block downward to nest onto the rod, and opens its fingers to release the block onto the rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple vertical rod on the wooden assembly base, opens fingers to release the block as it becomes stably supported by the rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves empty downward and leftward from the assembly base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block, and makes small adjustments to finger contact positions to establish a firm grip."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the area above the wooden block assembly base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1657, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand adjusts the white hexagonal nut to align with the vertical rod on the wooden block base, fits the nut onto the rod, and opens fingers to release the nut in place."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: retreat: Right hand moves empty away from the wooden block assembly toward the right side of the workspace."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves down and left toward the nearest white hexagonal block next to the wooden block stand with an open hand, no contact with the block yet."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the nearest white hexagonal block next to the wooden block stand, making small adjustments to establish grip on the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, lifting it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden assembly base, positioning the nut directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowering the nut to fit it onto the rod until it rests on the stacked block below."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating from the nut on the purple rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward from the area adjacent to the block rack toward the first white hexagonal nut on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the first white hexagonal nut on the table, adjusts finger contact positions and slightly rotates the nut on the table surface to form a grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand opens fingers to release the first white hexagonal nut, fully separating from the nut which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves toward the second white hexagonal nut positioned next to the small green block on the table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the second white hexagonal nut adjacent to the green block, adjusting finger positions to begin forming a grip on the nut."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the white hexagonal block, moving it leftward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2212, "end_step": 2309, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly, aligns its central hole with the purple rod, and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand releases the light purple-topped white cylindrical piece seated on the rightmost peg of the wooden base, fingers opening to separate completely from the piece."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves empty downward from the wooden peg base area toward the small green square block on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand fingers close around the small green square block on the table, making small wrist and finger adjustments to form a grip, shifting the block slightly on the table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand maintains a light static grip on the small green square block on the table surface, with no wrist, finger or block movement."}, {"label": "subtasks", "start_step": 2498, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand makes small finger and wrist adjustments to its grip on the small green square block, repositioning contact points on the block surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the green ring with closed fingers and lifts it vertically upward until the ring fully leaves the dark table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the grasped green ring, moving it upward and leftward through the air to the position directly above the target white peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2565, "end_step": 2684, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand aligns the green ring with the target white peg, lowers the ring to nest it onto the peg, opens fingers to release the ring resting stably on the peg."}], "episode_index": 31}
+{"source_uid": "5fb1ab1a03fa9a94", "num_frames": 2324, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves from its initial resting position on the right side toward the green hexagonal block placed on the table in front of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "3cbb5110-13f3-4120-a22c-eed8863b201d"}, {"label": "valid", "start_step": 0, "end_step": 2295, "id": "tdMx61lpMQ_pgsCe4v8ST"}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block which stays on the table surface."}, {"label": "goal", "start_step": 131, "end_step": 280, "id": "f17ff934-40b1-4b71-8dec-fabf3d05ecda"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally toward the wooden assembly base, stopping directly above a purple peg on the base."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the grasped green hexagonal block with the purple peg on the wooden assembly base, fitting the block onto the upper section of the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests on the white hexagonal component on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand lowers the green hexagonal block onto the purple peg of the wooden rack until the block is fully supported by the rack base."}, {"label": "goal", "start_step": 281, "end_step": 360, "id": "f068a733-8969-4f4f-b277-499a0f20d64a"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward through empty space toward the front white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut near the black table surface without moving."}, {"label": "goal", "start_step": 361, "end_step": 480, "id": "11ca4bde-e210-4058-91b6-1ccf963d837d"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post and fits the nut onto the top end of the post."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand slides the white hexagonal nut downward along the purple post until the nut rests stably on the green base block."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place_release: Right hand sets the white cap onto the purple peg on the wooden assembly board, opens fingers to release the cap once the cap is stably supported by the peg."}, {"label": "goal", "start_step": 481, "end_step": 575, "id": "86d0e34f-18f4-4c61-bd0b-edc056d172bf"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to establish a stable grip."}, {"label": "goal", "start_step": 576, "end_step": 695, "id": "c50e6385-e131-4a07-a1da-5a1b9a1d47f2"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward toward the purple vertical rod on the wooden peg stand."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward from the area above the wooden peg assembly toward the white hexagonal block on the black table in front of the assembly, with fingers held open."}, {"label": "goal", "start_step": 696, "end_step": 780, "id": "613dd53e-cf73-4907-bb68-1f4c343cad01"}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to establish a grip on the block which stays on the table surface."}, {"label": "goal", "start_step": 781, "end_step": 945, "id": "9c1c9a14-7a38-4b8c-bfd9-8b65c389c7bd"}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the right to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut downward along the rod to seat it on the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without any observable movement of the hand or nut."}, {"label": "goal", "start_step": 946, "end_step": 1030, "id": "12a9a02e-c330-40ab-bd21-9b11f8ffde70"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed in front of the wooden assembly base, with fingers slightly open while approaching the target."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "goal", "start_step": 1031, "end_step": 1185, "id": "dd3e2085-ef48-4af6-9613-a2759916940e"}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, moves it upward and toward the wooden block assembly to position it above the purple cylindrical post."}, {"label": "subtasks", "start_step": 1088, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the grasped green hexagonal block with the purple cylindrical post on the wooden base, making slight positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that is fitted onto the purple cylindrical post."}, {"label": "goal", "start_step": 1186, "end_step": 1275, "id": "e53e8a28-9acc-4339-b40f-e801484278c8"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target with an open hand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table, forming a grip on the object."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand holds a white hexagonal nut resting on the black table surface, lifts the nut upward until the nut is fully lifted off the table and suspended in air."}, {"label": "goal", "start_step": 1276, "end_step": 1425, "id": "24b1f198-a2d4-4dab-9210-d0c52c0823aa"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the suspended white hexagonal nut, moving it toward the wooden assembly block until the nut is positioned directly above the purple vertical post on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical post below, moves the nut downward to fit it onto the post, and makes small wrist and finger adjustments to properly seat the nut on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place_release: Right hand lowers the white-topped green block onto the purple rod of the wooden assembly rack and opens fingers to separate from the block resting on the rack."}, {"label": "goal", "start_step": 1426, "end_step": 1520, "id": "38f682d2-412f-4162-9dff-5eae62332846"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal nut on the black table surface adjacent to the wooden assembly rack, fingers maintained in a slightly open posture."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to establish a secure hold."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 1521, "end_step": 1660, "id": "3505078c-9bb0-49ed-a257-322f049043b6"}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand slightly adjusts the white hexagonal nut's position to align its central hole with the purple rod, moving the nut downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand releases the purple cylindrical piece on the wooden block rack, with fingers opening to separate from the cylindrical piece."}, {"label": "goal", "start_step": 1661, "end_step": 1740, "id": "9d977f42-4dd8-4234-bbe9-3f6163f742ba"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table, keeping an open hand as it approaches the target nut."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 1741, "end_step": 1875, "id": "654ef48a-fc35-4a98-995d-0fd5e9a3506a"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden block assembly holding other hexagonal pieces."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly, moving it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating from the nut placed on the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface with an empty hand."}, {"label": "goal", "start_step": 1876, "end_step": 1970, "id": "54ebd581-6fc1-4efc-a97a-629371c0de5a"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the green hexagonal ring upward from the dark table surface, with fingers closed securely around the ring."}, {"label": "goal", "start_step": 1971, "end_step": 2245, "id": "8a8f80b5-de91-4589-b241-5b42a9fefdf9"}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the green hexagonal ring upward and leftward through the air to position it directly above the target white cylinder on the wooden block base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand lowers the green hexagonal ring over the target white cylinder, aligning the ring's central opening with the cylinder top to fit the ring onto the cylinder."}, {"label": "subtasks", "start_step": 2040, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the fitted green hexagonal ring steady on top of the target white cylinder without any visible movement."}, {"label": "home", "start_step": 2296, "end_step": 2323, "id": "TK9nq12Mzoc8b4JHvIbHt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves from its initial resting position on the right side toward the green hexagonal block placed on the table in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block which stays on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally toward the wooden assembly base, stopping directly above a purple peg on the base."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the grasped green hexagonal block with the purple peg on the wooden assembly base, fitting the block onto the upper section of the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests on the white hexagonal component on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand lowers the green hexagonal block onto the purple peg of the wooden rack until the block is fully supported by the rack base."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward through empty space toward the front white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut near the black table surface without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post and fits the nut onto the top end of the post."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand slides the white hexagonal nut downward along the purple post until the nut rests stably on the green base block."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place_release: Right hand sets the white cap onto the purple peg on the wooden assembly board, opens fingers to release the cap once the cap is stably supported by the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to establish a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward toward the purple vertical rod on the wooden peg stand."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward from the area above the wooden peg assembly toward the white hexagonal block on the black table in front of the assembly, with fingers held open."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to establish a grip on the block which stays on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the right to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut downward along the rod to seat it on the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without any observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed in front of the wooden assembly base, with fingers slightly open while approaching the target."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, moves it upward and toward the wooden block assembly to position it above the purple cylindrical post."}, {"label": "subtasks", "start_step": 1088, "end_step": 1177, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the grasped green hexagonal block with the purple cylindrical post on the wooden base, making slight positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that is fitted onto the purple cylindrical post."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target with an open hand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table, forming a grip on the object."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand holds a white hexagonal nut resting on the black table surface, lifts the nut upward until the nut is fully lifted off the table and suspended in air."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the suspended white hexagonal nut, moving it toward the wooden assembly block until the nut is positioned directly above the purple vertical post on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical post below, moves the nut downward to fit it onto the post, and makes small wrist and finger adjustments to properly seat the nut on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place_release: Right hand lowers the white-topped green block onto the purple rod of the wooden assembly rack and opens fingers to separate from the block resting on the rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal nut on the black table surface adjacent to the wooden assembly rack, fingers maintained in a slightly open posture."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to establish a secure hold."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand slightly adjusts the white hexagonal nut's position to align its central hole with the purple rod, moving the nut downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand releases the purple cylindrical piece on the wooden block rack, with fingers opening to separate from the cylindrical piece."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table, keeping an open hand as it approaches the target nut."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden block assembly holding other hexagonal pieces."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly, moving it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating from the nut placed on the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface with an empty hand."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the green hexagonal ring upward from the dark table surface, with fingers closed securely around the ring."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the green hexagonal ring upward and leftward through the air to position it directly above the target white cylinder on the wooden block base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand lowers the green hexagonal ring over the target white cylinder, aligning the ring's central opening with the cylinder top to fit the ring onto the cylinder."}, {"label": "subtasks", "start_step": 2040, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the fitted green hexagonal ring steady on top of the target white cylinder without any visible movement."}], "episode_index": 32}
+{"source_uid": "ba987210501fca9f", "num_frames": 2493, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty from its initial right-side position downward and leftward, approaching the green hexagonal block located to the left of the wooden cylindrical stand."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "5934d30c-43eb-4b8b-b6c3-e72b613044af"}, {"label": "valid", "start_step": 0, "end_step": 2459, "id": "jpuBsKtX2pT4pYlH2TaEE"}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making minor finger and wrist adjustments to establish a grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 171, "end_step": 330, "id": "ce1b96f1-2249-4e54-909c-fa76c0a915f3"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black work surface and transports it to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 218, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, moves the block downward to fit it onto the rod until it rests on the existing blocks below."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the wooden pegboard area to approach the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 331, "end_step": 405, "id": "bbf30b09-16da-44d3-95e9-1a325f2ea6f4"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the contacted white hexagonal nut, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal nut resting on the green support block on the table to establish a stable hold."}, {"label": "goal", "start_step": 406, "end_step": 600, "id": "bca16b77-4c96-4ee5-ba74-8d707334b9c7"}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green support block and moves it upward then horizontally toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden base, making slight positional and rotational adjustments to fit the nut over the peg."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand lowers the white hexagonal nut down along the aligned purple peg until it rests stably on the green support block below the peg."}, {"label": "goal", "start_step": 601, "end_step": 690, "id": "42d90a81-237e-4467-8d5a-b6c86cece01e"}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 691, "end_step": 905, "id": "5662f8d5-7768-4587-addf-1ce016a5cf24"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden pegboard."}, {"label": "subtasks", "start_step": 750, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple rod and lowers the nut to fit it onto the rod, establishing the mated assembly state."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple rod without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the area near the block assembly structure toward the white hexagonal nut resting on the table adjacent to the wooden assembly base."}, {"label": "goal", "start_step": 906, "end_step": 1010, "id": "7af9eeb4-3bc5-4605-ba82-6947fb23aa9b"}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, with fingers closing and making small adjustments to form a grip on the nut, which remains supported by the table surface."}, {"label": "goal", "start_step": 1011, "end_step": 1150, "id": "5c41bb72-7a47-4561-946d-95c4447f477c"}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate_release: Right hand holds the purple cylindrical peg, aligns and inserts it into the corresponding purple hole on the wooden pegboard, and releases the peg."}, {"label": "goal", "start_step": 1151, "end_step": 1255, "id": "db185e37-5aec-48bf-8d07-008c5f46df0d"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward from the wooden pegboard toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish contact with the block."}, {"label": "goal", "start_step": 1256, "end_step": 1395, "id": "bd6aa774-d25c-4046-ac4c-ca572da5b0a8"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1312, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit it onto the rod until it rests on the white block below."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement or hand shape adjustment."}, {"label": "goal", "start_step": 1396, "end_step": 1500, "id": "64aa36f7-845a-4e07-8f57-020920dac0ff"}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward while empty, approaching the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1501, "end_step": 1665, "id": "6e0884ae-ee7f-4e1d-a8db-3e5e66d7829b"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving it upward and toward the wooden block set until it sits directly above the purple mounting rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the held white hexagonal nut to align it with the purple rod on the wooden base, moving the nut downward to fit it onto the rod and seat it on the nut positioned below."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: release: Right hand opens fingers gradually to release the white hexagonal nut seated on the purple rod, separating the hand from the nut surface."}, {"label": "goal", "start_step": 1666, "end_step": 1810, "id": "577e4566-59e7-414e-829b-fa43223835b8"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward and to the right toward the loose white hexagonal block placed on the black table surface next to the wooden rack, staying empty without touching the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand contacts the loose white hexagonal block on the table, fingers closing and making small adjustments to form a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 1811, "end_step": 1935, "id": "aad73cad-8862-4508-8760-2d41a6c20651"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1852, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod until the block rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1936, "end_step": 2020, "id": "6563bb0f-c87f-460e-820d-ce91efb2d08a"}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts it upward until the block fully leaves the table surface."}, {"label": "goal", "start_step": 2021, "end_step": 2140, "id": "7af568da-3659-4184-a42c-8e79f9ebcc7b"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and leftward toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple post on the rack, fitting the block onto the post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place_release: Right hand positions the white cylindrical block with a purple rod into the matching hole on the wooden holder, opening fingers to release the block into place."}, {"label": "goal", "start_step": 2141, "end_step": 2250, "id": "592728e8-227f-4df9-bd78-4cc7bdbc9862"}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward toward the green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing fingers and adjusting contact points to secure a grip on the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand holds the green square block and lifts it vertically upward from the dark table surface until the block is completely raised off the table."}, {"label": "goal", "start_step": 2251, "end_step": 2405, "id": "72e9f704-e8e9-4295-9fc2-d3280a5ea2fe"}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted green square block upward and leftward, moving it to the position above the white capped cylinders on the light wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand makes small fine positional adjustments to the green square block, aligning it with the top of the rightmost purple-tipped white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2414, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand lowers the aligned green square block vertically downward onto the top of the target purple-tipped white cylinder until the block is stably supported by the cylinder."}, {"label": "home", "start_step": 2460, "end_step": 2492, "id": "MkjAmeZklT-SvKzl4ttwK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty from its initial right-side position downward and leftward, approaching the green hexagonal block located to the left of the wooden cylindrical stand."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making minor finger and wrist adjustments to establish a grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black work surface and transports it to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 218, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, moves the block downward to fit it onto the rod until it rests on the existing blocks below."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the wooden pegboard area to approach the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the contacted white hexagonal nut, with slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal nut resting on the green support block on the table to establish a stable hold."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green support block and moves it upward then horizontally toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden base, making slight positional and rotational adjustments to fit the nut over the peg."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand lowers the white hexagonal nut down along the aligned purple peg until it rests stably on the green support block below the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden pegboard."}, {"label": "subtasks", "start_step": 750, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple rod and lowers the nut to fit it onto the rod, establishing the mated assembly state."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple rod without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the area near the block assembly structure toward the white hexagonal nut resting on the table adjacent to the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, with fingers closing and making small adjustments to form a grip on the nut, which remains supported by the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate_release: Right hand holds the purple cylindrical peg, aligns and inserts it into the corresponding purple hole on the wooden pegboard, and releases the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward from the wooden pegboard toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish contact with the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1312, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit it onto the rod until it rests on the white block below."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward while empty, approaching the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1514, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving it upward and toward the wooden block set until it sits directly above the purple mounting rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the held white hexagonal nut to align it with the purple rod on the wooden base, moving the nut downward to fit it onto the rod and seat it on the nut positioned below."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: release: Right hand opens fingers gradually to release the white hexagonal nut seated on the purple rod, separating the hand from the nut surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward and to the right toward the loose white hexagonal block placed on the black table surface next to the wooden rack, staying empty without touching the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand contacts the loose white hexagonal block on the table, fingers closing and making small adjustments to form a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1852, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod until the block rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts it upward until the block fully leaves the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and leftward toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple post on the rack, fitting the block onto the post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place_release: Right hand positions the white cylindrical block with a purple rod into the matching hole on the wooden holder, opening fingers to release the block into place."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward toward the green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing fingers and adjusting contact points to secure a grip on the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand holds the green square block and lifts it vertically upward from the dark table surface until the block is completely raised off the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted green square block upward and leftward, moving it to the position above the white capped cylinders on the light wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand makes small fine positional adjustments to the green square block, aligning it with the top of the rightmost purple-tipped white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2414, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand lowers the aligned green square block vertically downward onto the top of the target purple-tipped white cylinder until the block is stably supported by the cylinder."}], "episode_index": 33}
+{"source_uid": "9a7b0143e4894e5f", "num_frames": 2238, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table in front of the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "517ca30f-09a9-4bdd-8b7c-fa603bf3c0c6"}, {"label": "valid", "start_step": 0, "end_step": 2207, "id": "UMVTDK0-QUCuRiQXtakCC"}, {"label": "subtasks", "start_step": 75, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grip on the block."}, {"label": "goal", "start_step": 156, "end_step": 285, "id": "86c38250-2f7f-4b01-a97d-ee4cca9585e8"}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green cubic block upwards until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green cubic block to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green cubic block onto the target purple rod by aligning the block's hole with the rod and lowering it down."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: pull_transport: Right hand pulls the white hexagonal block out of the wooden base and transports it down to the black table surface."}, {"label": "goal", "start_step": 286, "end_step": 360, "id": "da89d0d9-5bea-4e1b-8979-68ab041ed1a1"}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 361, "end_step": 510, "id": "9d825692-3546-41e5-b978-4436cd9f7dd3"}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 511, "end_step": 585, "id": "018c910a-67b5-4bf8-a974-c97b9a0dc663"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 586, "end_step": 720, "id": "bb418c73-b75a-4049-846a-d39ec2e45548"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 721, "end_step": 820, "id": "9277aaf8-2af4-484b-b533-bbf050f870d9"}, {"label": "subtasks", "start_step": 758, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 821, "end_step": 1010, "id": "753bd0d5-3153-4488-9681-ab5486e8cbe0"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hollow block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1011, "end_step": 1095, "id": "7759d1e1-34ca-48f0-afe5-fe4466dfb1e0"}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the green hollow block on the table."}, {"label": "goal", "start_step": 1096, "end_step": 1240, "id": "d6c2eb72-2f22-4c57-8c05-1aa96ec99454"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by inserting it downwards onto the rod."}, {"label": "goal", "start_step": 1241, "end_step": 1320, "id": "e6631339-7f96-45b3-bc36-e526fb60b2f1"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward from the wooden base towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to establish a stable grip."}, {"label": "goal", "start_step": 1321, "end_step": 1465, "id": "90dbc5d6-e6cd-4d0b-96ac-2a329ef9fd8e"}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1372, "end_step": 1454, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1466, "end_step": 1555, "id": "9cf5815f-323d-495b-9794-bcff32556a9d"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1556, "end_step": 1745, "id": "3e51b66f-5d70-4027-81a3-687bcb54dfa0"}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring which is placed on the purple rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches towards the other white ring on the black table."}, {"label": "goal", "start_step": 1746, "end_step": 1780, "id": "63e43208-5f29-47df-8d12-40ffb6a1b3c2"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1781, "end_step": 1950, "id": "352271db-fa66-49b4-aba5-e836677471b0"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden block base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the cylindrical peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block and moves slightly away."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green block placed on the table."}, {"label": "goal", "start_step": 1951, "end_step": 2025, "id": "224f76a8-3141-453a-a650-1e205ce019b4"}, {"label": "subtasks", "start_step": 1988, "end_step": 2047, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches the green block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 2026, "end_step": 2165, "id": "8e05704c-3293-46e6-8a08-fdb5134c7c40"}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it towards the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hollow block with the white bottle with purple cap and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hollow block after it is fitted onto the bottle."}, {"label": "home", "start_step": 2208, "end_step": 2237, "id": "RtWamdNaMOkrCBT5OQ6OS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 75, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green cubic block upwards until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green cubic block to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green cubic block onto the target purple rod by aligning the block's hole with the rod and lowering it down."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: pull_transport: Right hand pulls the white hexagonal block out of the wooden base and transports it down to the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 758, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hollow block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the green hollow block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by inserting it downwards onto the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward from the wooden base towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to establish a stable grip."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1372, "end_step": 1454, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring which is placed on the purple rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches towards the other white ring on the black table."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden block base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the cylindrical peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block and moves slightly away."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green block placed on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2047, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it towards the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hollow block with the white bottle with purple cap and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hollow block after it is fitted onto the bottle."}], "episode_index": 34}
+{"source_uid": "deb040551f6f75a8", "num_frames": 2497, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward and slightly leftward from its initial raised position on the right side, approaching the green hexagonal nut on the black table in front of the wooden base while remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "45351a07-56d4-4f6b-9835-4268b78f9644"}, {"label": "valid", "start_step": 0, "end_step": 2467, "id": "kZPCsKOAcJC8f1FzQ845m"}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut, closing its fingers and making minor positional adjustments to establish a grip on the nut."}, {"label": "goal", "start_step": 141, "end_step": 285, "id": "adc5ffb2-fc27-447c-bc2b-1ee32c92919a"}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the wooden peg board, positioning the block directly above an empty purple peg."}, {"label": "subtasks", "start_step": 210, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, then lowers the block vertically to slide it down the peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, starting to move away from the assembled block."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from the area of the wooden peg base toward the loose white hexagonal block resting on the black table surface, fingers held in an open position as it approaches the target block."}, {"label": "goal", "start_step": 286, "end_step": 360, "id": "c5e47659-c4ee-4ee1-b85c-63a7d1b46f7f"}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the black table surface, making small continuous adjustments to finger position and contact points to form a stable grip, with the block remaining in contact with the table surface throughout."}, {"label": "goal", "start_step": 361, "end_step": 505, "id": "c6a1d627-5dcd-4228-9680-ce4d851f4d2a"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut slowly to slide it down the rod, fitting it into the assembly on the green base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without obvious movement, keeping it stable on the green base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: place_release: Right hand positions the grasped green-and-white cylindrical block onto the purple peg of the wooden assembly base, releasing grip once the block is fully supported by the peg."}, {"label": "goal", "start_step": 506, "end_step": 585, "id": "130a7a7f-20da-4377-a000-a658c4d99a94"}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front-left white hexagonal nut on the black table surface, approaching the nut without contact."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 586, "end_step": 810, "id": "70164b92-79ac-4a15-82fc-951600dad5e1"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the gripped white hexagonal nut vertically upwards, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the leftmost purple peg on the wooden assembly base, positioning the nut directly above the target peg."}, {"label": "subtasks", "start_step": 638, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal nut with the leftmost purple peg, then lowers the nut along the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the table in front of the wooden assembly base."}, {"label": "goal", "start_step": 811, "end_step": 875, "id": "b9dc9a41-dc8c-4e31-9f07-fe5c65abb9d5"}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small grip adjustments to establish stable contact with the nut."}, {"label": "goal", "start_step": 876, "end_step": 1040, "id": "f766979d-fabb-407c-846f-b169a72bae19"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the held white hexagonal nut upward and horizontally to position it above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central bore of the white hexagonal nut with the purple peg, making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block rack toward the front-left green hexagonal nut on the table, remaining empty with fingers slightly extended."}, {"label": "goal", "start_step": 1041, "end_step": 1125, "id": "04a92a09-569e-498a-80d5-aa39ef272778"}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the front-left green hexagonal nut on the table, adjusting and closing fingers to form a grip on the nut."}, {"label": "goal", "start_step": 1126, "end_step": 1270, "id": "6c104438-79fd-4d9c-8cb0-1f8d8da41b10"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to position it directly above the purple cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg, lowers the block and makes small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple post on the wooden assembly base, fits the block onto the post, opens fingers to release the block."}, {"label": "goal", "start_step": 1271, "end_step": 1360, "id": "660bc17d-faa4-4537-ac1c-656d9c290e5d"}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the loose green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose green hexagonal block on the black table, adjusting finger positions to establish a grip on the block."}, {"label": "goal", "start_step": 1361, "end_step": 1490, "id": "21554494-188d-439a-b496-9f10465cc0b0"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post on the base and lowers the block to fit onto the post, making slight wrist and finger adjustments to align the parts during assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the matching wooden peg on the wooden base, releases the grip once the block rests stably on the peg."}, {"label": "goal", "start_step": 1491, "end_step": 1575, "id": "135bc6cb-2176-46ae-8a2f-1066d7e93381"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block placed on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward toward the purple rod on the wooden hexagonal nut stand."}, {"label": "goal", "start_step": 1576, "end_step": 1690, "id": "3fada641-cbda-45a5-b7a8-1cfda9d3311f"}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal nut with the purple rod, slides the nut down the rod to seat it on the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod of the wooden block stand, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1691, "end_step": 1785, "id": "fe6efe94-3d5c-49ae-9f11-fb8220a4e05f"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block resting on the dark table surface, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the loose white hexagonal block on the table, adjusting finger positions and closing fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upwards from the dark table surface."}, {"label": "goal", "start_step": 1786, "end_step": 2050, "id": "9df46298-b6eb-4d47-b367-c839ef801204"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upwards and toward the wooden assembly rack, positioning it above the purple vertical rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating from the block now seated on the purple rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves rightward and downward from above the wooden block set toward the green cube placed on the table surface."}, {"label": "goal", "start_step": 2051, "end_step": 2130, "id": "2882ed31-bb63-47f0-8fd4-2a3917081ac8"}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube on the table, with the cube remaining in contact with the table surface."}, {"label": "goal", "start_step": 2131, "end_step": 2410, "id": "e5ae17f1-11de-44af-8b84-721c86ad09ac"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moves it upward and leftward to the area above the wooden bottle rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green block, aligns its central hole with the purple-topped bottle below, lowers the block to fit it onto the bottle until the block is stably supported."}, {"label": "home", "start_step": 2468, "end_step": 2496, "id": "T-EL7ksOzkyLWfEeDbX1J"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward and slightly leftward from its initial raised position on the right side, approaching the green hexagonal nut on the black table in front of the wooden base while remaining empty."}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut, closing its fingers and making minor positional adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the wooden peg board, positioning the block directly above an empty purple peg."}, {"label": "subtasks", "start_step": 210, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, then lowers the block vertically to slide it down the peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 278, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, starting to move away from the assembled block."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from the area of the wooden peg base toward the loose white hexagonal block resting on the black table surface, fingers held in an open position as it approaches the target block."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the black table surface, making small continuous adjustments to finger position and contact points to form a stable grip, with the block remaining in contact with the table surface throughout."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut slowly to slide it down the rod, fitting it into the assembly on the green base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without obvious movement, keeping it stable on the green base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: place_release: Right hand positions the grasped green-and-white cylindrical block onto the purple peg of the wooden assembly base, releasing grip once the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front-left white hexagonal nut on the black table surface, approaching the nut without contact."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the gripped white hexagonal nut vertically upwards, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the leftmost purple peg on the wooden assembly base, positioning the nut directly above the target peg."}, {"label": "subtasks", "start_step": 638, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal nut with the leftmost purple peg, then lowers the nut along the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the table in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small grip adjustments to establish stable contact with the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the held white hexagonal nut upward and horizontally to position it above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central bore of the white hexagonal nut with the purple peg, making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block rack toward the front-left green hexagonal nut on the table, remaining empty with fingers slightly extended."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the front-left green hexagonal nut on the table, adjusting and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to position it directly above the purple cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg, lowers the block and makes small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple post on the wooden assembly base, fits the block onto the post, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the loose green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose green hexagonal block on the black table, adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post on the base and lowers the block to fit onto the post, making slight wrist and finger adjustments to align the parts during assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the matching wooden peg on the wooden base, releases the grip once the block rests stably on the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block placed on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward toward the purple rod on the wooden hexagonal nut stand."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal nut with the purple rod, slides the nut down the rod to seat it on the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod of the wooden block stand, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block resting on the dark table surface, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the loose white hexagonal block on the table, adjusting finger positions and closing fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upwards from the dark table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upwards and toward the wooden assembly rack, positioning it above the purple vertical rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating from the block now seated on the purple rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves rightward and downward from above the wooden block set toward the green cube placed on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube on the table, with the cube remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moves it upward and leftward to the area above the wooden bottle rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green block, aligns its central hole with the purple-topped bottle below, lowers the block to fit it onto the bottle until the block is stably supported."}], "episode_index": 35}
+{"source_uid": "f82b0d6ccfbbe06e", "num_frames": 2392, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjustment: Left hand stays at the left side of the workspace in an empty state, with fingers performing slight posture adjustments without touching any operational objects. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed on the table in front-left of the wooden peg stand, with fingers held open and making no contact with the target object during movement."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "796c6c92-4ad5-4edf-828d-3a74b07a31af"}, {"label": "valid", "start_step": 0, "end_step": 2359, "id": "EsMhtnQUt-Rt-4c7QXRad"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed on the table in front-left of the wooden peg stand, with fingers held open and making no contact with the target object during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand reaches the vicinity of the green hexagonal nut on the table, with fingers closing and adjusting contact positions to form a stable grasp on the nut."}, {"label": "goal", "start_step": 131, "end_step": 255, "id": "046122c5-d1fd-40b4-b4ab-b486c977bde2"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand moves the suspended green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to nest it securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple peg without observable movement, rotation or finger adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves forward and downward from the wooden assembly stand toward the front white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 256, "end_step": 330, "id": "fdd30010-f431-47ea-ba10-93f0a0ca96fd"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closing fingers and adjusting contact points to form a grip on the nut resting on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal nut on the black table, lifting the nut completely off the table surface."}, {"label": "goal", "start_step": 331, "end_step": 655, "id": "cb6ea1a4-f287-4ddd-b9b3-449ae0ec7c3e"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple vertical rod on the wooden assembly rack, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position and angle of the white hexagonal nut to align its central hole with the purple vertical rod, nesting the nut onto the rod and making small positional adjustments during assembly."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple peg of the wooden base until the block is stably supported, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 656, "end_step": 740, "id": "6b756cf2-eb14-46d0-802b-764f98069f8e"}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the black table surface, holding fingers in a slightly spread posture."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 741, "end_step": 915, "id": "12f83003-2361-45ed-afe6-bccb531b6c8f"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black work surface, moving it upward to a position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the held white hexagonal nut to align its central hole with the top of the target purple peg."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand lowers the aligned white hexagonal nut down the purple peg until it rests securely on the underlying nut stack on the wooden assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: release: Right hand opens its fingers to release grip on the seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the white cylindrical piece onto the purple peg of the wooden assembly base, with fingers opening to release the piece once it is supported on the peg."}, {"label": "goal", "start_step": 916, "end_step": 1020, "id": "05345229-0e87-413a-ae9e-9bff78b6e975"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table surface in front of the assembly base, without contacting the nut."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1155, "id": "1e89b6c8-2757-4cf6-8b8d-4920ed3954d0"}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until it rests stably on the lower white hexagonal nut on the same peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal block on the black table surface, with fingers slightly spread as it approaches the target block."}, {"label": "goal", "start_step": 1156, "end_step": 1215, "id": "c1a6fbf9-7f11-4ff7-9bdb-ac1e69e876a9"}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes its thumb and fingers around the green hexagonal block on the table, adjusting grip slightly to form a stable hold on the block which remains resting on the table."}, {"label": "goal", "start_step": 1216, "end_step": 1355, "id": "70243f4a-54a2-430d-922a-f8137cb85c42"}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, completely separating the block from the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and toward the purple vertical rod on the wooden block stand, moving the block to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the green hexagonal block slightly to align its central hole with the purple rod below, guiding the block onto the rod to establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod, until the block rests steadily on the white hexagonal block below and is supported by the underlying block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal block on the dark table surface, with open fingers."}, {"label": "goal", "start_step": 1356, "end_step": 1415, "id": "983cffd8-c0f1-4bb6-85a3-142f075af57f"}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers to securely grasp the white hexagonal block resting on the table surface."}, {"label": "goal", "start_step": 1416, "end_step": 1645, "id": "fc979cef-2809-4b93-921f-ea81510b1a3b"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position above the purple vertical post on the wooden block base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top peg of the assembly stand to seat the block stably, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 1646, "end_step": 1725, "id": "a105c54c-378a-4591-a686-e85eaff77543"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward-right toward the loose white hexagonal block on the black table surface, remaining empty with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger contact positions to form a grasp on the block while the block rests on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and left toward the purple rod on the wooden assembly stand."}, {"label": "goal", "start_step": 1726, "end_step": 1870, "id": "e2ce80e5-8d40-4a44-aa14-265ed13346b6"}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden assembly stand, lowers the nut and makes slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves diagonally downward to the right toward the white hexagonal nut on the black table surface, staying empty and not making contact with the target nut during the movement."}, {"label": "goal", "start_step": 1871, "end_step": 1970, "id": "de69144b-37ca-4dc7-bbb4-812f03aada66"}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, making small adjustments to finger positions to form a grip on the nut."}, {"label": "goal", "start_step": 1971, "end_step": 2085, "id": "b8def235-8348-4c43-a36f-ccc0418ba604"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the rack, lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves diagonally downward and rightward from the position adjacent to the stacked white bottles on the wooden base, approaching the green cubic block on the dark table surface."}, {"label": "goal", "start_step": 2086, "end_step": 2175, "id": "da4ee312-a507-4b6b-acb7-e6bb550d8f11"}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the side of the green cubic block, with fingers making slight positional adjustments to establish a stable grasp on the block."}, {"label": "goal", "start_step": 2176, "end_step": 2330, "id": "efab6229-07f3-4ad0-8745-6ac477d68122"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it fully off the table surface, and moves it upward and rightward to position directly above the target white bottle on the wooden storage rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns its central hole with the top of the target white bottle, lowers the block to nest it securely onto the bottle, and opens fingers to release the block once it is supported by the bottle."}, {"label": "home", "start_step": 2360, "end_step": 2391, "id": "waNtdH-aqxTNLQvGTprjZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjustment: Left hand stays at the left side of the workspace in an empty state, with fingers performing slight posture adjustments without touching any operational objects. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed on the table in front-left of the wooden peg stand, with fingers held open and making no contact with the target object during movement."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed on the table in front-left of the wooden peg stand, with fingers held open and making no contact with the target object during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand reaches the vicinity of the green hexagonal nut on the table, with fingers closing and adjusting contact positions to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand moves the suspended green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to nest it securely onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple peg without observable movement, rotation or finger adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves forward and downward from the wooden assembly stand toward the front white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closing fingers and adjusting contact points to form a grip on the nut resting on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal nut on the black table, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple vertical rod on the wooden assembly rack, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 375, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position and angle of the white hexagonal nut to align its central hole with the purple vertical rod, nesting the nut onto the rod and making small positional adjustments during assembly."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple peg of the wooden base until the block is stably supported, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the black table surface, holding fingers in a slightly spread posture."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black work surface, moving it upward to a position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the held white hexagonal nut to align its central hole with the top of the target purple peg."}, {"label": "subtasks", "start_step": 825, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand lowers the aligned white hexagonal nut down the purple peg until it rests securely on the underlying nut stack on the wooden assembly."}, {"label": "subtasks", "start_step": 908, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: release: Right hand opens its fingers to release grip on the seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the white cylindrical piece onto the purple peg of the wooden assembly base, with fingers opening to release the piece once it is supported on the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table surface in front of the assembly base, without contacting the nut."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until it rests stably on the lower white hexagonal nut on the same peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal block on the black table surface, with fingers slightly spread as it approaches the target block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes its thumb and fingers around the green hexagonal block on the table, adjusting grip slightly to form a stable hold on the block which remains resting on the table."}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, completely separating the block from the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and toward the purple vertical rod on the wooden block stand, moving the block to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the green hexagonal block slightly to align its central hole with the purple rod below, guiding the block onto the rod to establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod, until the block rests steadily on the white hexagonal block below and is supported by the underlying block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal block on the dark table surface, with open fingers."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers to securely grasp the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position above the purple vertical post on the wooden block base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple post without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top peg of the assembly stand to seat the block stably, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward-right toward the loose white hexagonal block on the black table surface, remaining empty with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger contact positions to form a grasp on the block while the block rests on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and left toward the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1770, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden assembly stand, lowers the nut and makes slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves diagonally downward to the right toward the white hexagonal nut on the black table surface, staying empty and not making contact with the target nut during the movement."}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, making small adjustments to finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves it upward to the position above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the rack, lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves diagonally downward and rightward from the position adjacent to the stacked white bottles on the wooden base, approaching the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the side of the green cubic block, with fingers making slight positional adjustments to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it fully off the table surface, and moves it upward and rightward to position directly above the target white bottle on the wooden storage rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns its central hole with the top of the target white bottle, lowers the block to nest it securely onto the bottle, and opens fingers to release the block once it is supported by the bottle."}], "episode_index": 36}
+{"source_uid": "5c084c7224c41abe", "num_frames": 2637, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand makes minor posture adjustments at the left side of the table, with no contact to any operating object. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop in front of the wooden peg holder."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "0be31ef5-ba70-403d-a66e-ca6ae5a4366e"}, {"label": "valid", "start_step": 0, "end_step": 2603, "id": "bkPskRQAgz-srvVgjccMB"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop in front of the wooden peg holder."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block, with fingers adjusting to establish a stable grip."}, {"label": "goal", "start_step": 141, "end_step": 475, "id": "b19b9706-92aa-47f7-b797-ef1d61f46004"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple rod."}, {"label": "subtasks", "start_step": 218, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple rod to fit it into position."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white ring onto the rod of the wooden base on the black table."}, {"label": "goal", "start_step": 476, "end_step": 570, "id": "36a67f9b-e90c-4b2d-91f5-c7aba977aeda"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the target purple rod on the rack."}, {"label": "goal", "start_step": 571, "end_step": 725, "id": "299906b8-dfdc-4726-b4f1-76575068fc7e"}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the top of the target purple rod."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand presses the white hexagonal block down to fit onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block that is already fitted on the purple rod."}, {"label": "goal", "start_step": 726, "end_step": 810, "id": "3ef6954d-7b2c-4a89-a6c9-cb825d9f6736"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 811, "end_step": 1010, "id": "9222dc1e-f037-4fb4-819e-f30f8cc07d4a"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 848, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1011, "end_step": 1090, "id": "d004bcfa-c98c-4c05-ac9f-308f087610f5"}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1091, "end_step": 1250, "id": "43658e9e-9892-4508-86ba-3fa9adab0138"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white ring placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1251, "end_step": 1325, "id": "e22a3f31-852e-47a4-b080-2bfdd3ecdc14"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black table surface."}, {"label": "goal", "start_step": 1326, "end_step": 1465, "id": "0ca3f96b-8c9b-4af6-8c77-4620c8baa34e"}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1466, "end_step": 1545, "id": "013d7f07-05cd-46d1-9e70-5a5e22dbca22"}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white ring on the purple rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1546, "end_step": 1710, "id": "24ebb463-b3cc-4655-b169-f2b4ddbfa156"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hollow cylinder block placed on the table below the wooden rack."}, {"label": "goal", "start_step": 1711, "end_step": 1775, "id": "b94592bd-dc1b-4f6b-aae6-5649b5db9737"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder block on the table."}, {"label": "goal", "start_step": 1776, "end_step": 1945, "id": "99047498-f0e2-4cde-aa1e-48b7878e8bc0"}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hollow cylinder block off the table and transports it above the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hollow cylinder block with the purple vertical post and fits it onto the post."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hollow cylinder block fitted on the purple post."}, {"label": "goal", "start_step": 1946, "end_step": 2015, "id": "022d3eb3-c99a-4a8e-b0be-df85b932348c"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close around the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hollow cylinder on the right side of the table without moving."}, {"label": "goal", "start_step": 2016, "end_step": 2335, "id": "6a12291d-a296-460f-a319-d512a8e855dd"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hollow cylinder towards the rightmost purple pillar on the wooden block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2130, "end_step": 2354, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hollow cylinder downwards to fit it stably on the purple pillar."}, {"label": "goal", "start_step": 2336, "end_step": 2430, "id": "0addf906-0b6c-4324-88ff-114ff14c9802"}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the black table surface, forming a stable grip."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle on the wooden rack."}, {"label": "goal", "start_step": 2431, "end_step": 2565, "id": "03a2808c-c58a-4559-adff-7e2d1165f6d5"}, {"label": "subtasks", "start_step": 2468, "end_step": 2564, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the green block fitted on the white bottle and retreats slightly from the rack."}, {"label": "home", "start_step": 2604, "end_step": 2636, "id": "nNyWnU1-dwodQJzIGW1mo"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand makes minor posture adjustments at the left side of the table, with no contact to any operating object. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop in front of the wooden peg holder."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop in front of the wooden peg holder."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block, with fingers adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple rod."}, {"label": "subtasks", "start_step": 218, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple rod to fit it into position."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white ring onto the rod of the wooden base on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the target purple rod on the rack."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the top of the target purple rod."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand presses the white hexagonal block down to fit onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block that is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 848, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white ring placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white ring on the purple rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hollow cylinder block placed on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder block on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hollow cylinder block off the table and transports it above the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hollow cylinder block with the purple vertical post and fits it onto the post."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hollow cylinder block fitted on the purple post."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close around the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hollow cylinder on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hollow cylinder towards the rightmost purple pillar on the wooden block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2130, "end_step": 2354, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hollow cylinder downwards to fit it stably on the purple pillar."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the black table surface, forming a stable grip."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2468, "end_step": 2564, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the green block fitted on the white bottle and retreats slightly from the rack."}], "episode_index": 37}
+{"source_uid": "bb566cbd38a4c6c6", "num_frames": 2282, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: idle: Right hand stays empty at the right initial position above the table, with no obvious translational movement toward the central objects."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "01cd75a1-0af5-467b-a886-22ce9de54cf4"}, {"label": "valid", "start_step": 0, "end_step": 2248, "id": "AMaM3ddGv87PlcrORIAVQ"}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves horizontally left toward the green hexagonal block placed in front of the wooden pegboard, remaining empty while approaching the target."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand contacts the front-left green hexagonal block near the pegboard, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 136, "end_step": 275, "id": "2938c046-a278-40f2-ae25-30bcaa8b8bae"}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to position the block's central hole directly above a purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand moves the grasped green hexagonal block downward along the purple peg, placing it onto the top surface of the existing white hexagonal block on the peg until it rests stably."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden component rack toward the white hexagonal nut on the black table surface, approaching the target nut without making contact."}, {"label": "goal", "start_step": 276, "end_step": 355, "id": "259f9722-f595-4bc0-a4ea-32443837e0e6"}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, with slight finger adjustments to form a grip on the nut."}, {"label": "goal", "start_step": 356, "end_step": 530, "id": "cfe8b560-94d3-460f-b33b-0cb23a38f5c5"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 398, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and makes small positional adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place_release: Right hand positions the green hexagonal block onto the purple peg of the wooden stand and releases its grip on the block."}, {"label": "goal", "start_step": 531, "end_step": 615, "id": "87b674d6-5fc7-4bca-a3cb-634225085a7b"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward through the air toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to establish a firm grip."}, {"label": "goal", "start_step": 616, "end_step": 755, "id": "b25bbee9-f3fe-4692-b501-319bcb07bc07"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table surface, then moves it upward and leftward to position it directly above the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, then moves the nut downward to fit the hole onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod until the nut rests steadily on the supporting green block below, maintaining grip on the nut throughout the movement."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach_grasp: Right hand moves downward from the position near the wooden block stand toward the hexagonal nut on the table in front of the stand, fingers stay slightly open during approach, close to establish initial contact with the target nut."}, {"label": "goal", "start_step": 756, "end_step": 825, "id": "495e294a-038c-4149-a7da-51233b7d2767"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the contacted hexagonal nut stably on the table surface, with no observable movement of the hand, fingers or the target nut."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the black table to form a stable grip."}, {"label": "goal", "start_step": 826, "end_step": 985, "id": "a02b8cdb-1b33-4244-a974-b1e55ca062a3"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block seated on the purple peg of the assembly stand."}, {"label": "goal", "start_step": 986, "end_step": 1065, "id": "b8a0d6ac-094a-4545-aa95-45978e421192"}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 1066, "end_step": 1225, "id": "f5e209d2-d556-4933-a5b6-32fe34e14ffa"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward toward the purple rod fixed on the wooden assembly base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit onto the rod until it rests on the white block below."}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block positioned on the purple peg of the wooden assembly stand."}, {"label": "goal", "start_step": 1226, "end_step": 1315, "id": "fc36b6e2-9ed8-40f2-9601-bc12cf8de566"}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the dark table surface to establish a grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift: Right hand holds the white hexagonal nut and moves upward, lifting the nut completely off the black table surface."}, {"label": "goal", "start_step": 1316, "end_step": 1425, "id": "c77275df-750a-4fed-a90b-30b65454aebe"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving toward the purple rod on the wooden block assembly until the nut is positioned directly above the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand holds the white hexagonal nut, aligns the nut's central hole with the purple rod, and moves downward to fit the nut onto the purple rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty from above the wooden block set downwards and rightwards to approach the nearest white hexagonal nut on the table."}, {"label": "goal", "start_step": 1426, "end_step": 1505, "id": "d3079cd6-15f4-41c9-984d-72e2b9c8793d"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the nearest white hexagonal nut on the table, making slight finger adjustments to establish a secure grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward to completely separate it from the dark table surface."}, {"label": "goal", "start_step": 1506, "end_step": 1665, "id": "be57f830-d8b0-4988-8250-e7d9fcab69b5"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: transport: Right hand carries the grasped white hexagonal block, moving it horizontally toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit it securely onto the rod over the existing block on the stand."}, {"label": "subtasks", "start_step": 1658, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward from the upper area near the purple cylinder to approach the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1666, "end_step": 1740, "id": "a0fd53ae-09f7-4469-8ea5-729ae732a486"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand flexes fingers to close around the white hexagonal nut, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface near the green block without moving."}, {"label": "goal", "start_step": 1741, "end_step": 1955, "id": "e19aaec6-8a3e-4c50-8c16-3f7936b08254"}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position above the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1815, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand lowers the white hexagonal block down onto the purple peg until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand releases the purple-topped cylinder on the wooden block holder, with fingers opening to separate from the cylinder surface."}, {"label": "goal", "start_step": 1956, "end_step": 2065, "id": "ad26f6f4-7874-4e7e-b24b-e61bce9a91a3"}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves down and right toward the small green block on the table, staying empty while approaching the target block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand adjusts finger positions around the small green block on the table, closing fingers to contact the block and prepare a stable grip."}, {"label": "goal", "start_step": 2066, "end_step": 2191, "id": "f5bcc23a-f17d-40cc-813c-dfbc9872eae9"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moves it upward and left toward the wooden bottle rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand lowers the green block onto the top of the front-right bottle on the rack, adjusts the block's position until it is stably supported by the bottle cap."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which stays seated on the bottle cap."}, {"label": "home", "start_step": 2249, "end_step": 2281, "id": "D_rvzQHzlyxJ8prEKRb0p"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: idle: Right hand stays empty at the right initial position above the table, with no obvious translational movement toward the central objects."}, {"label": "subtasks", "start_step": 45, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves horizontally left toward the green hexagonal block placed in front of the wooden pegboard, remaining empty while approaching the target."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand contacts the front-left green hexagonal block near the pegboard, fingers closing and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to position the block's central hole directly above a purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand moves the grasped green hexagonal block downward along the purple peg, placing it onto the top surface of the existing white hexagonal block on the peg until it rests stably."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden component rack toward the white hexagonal nut on the black table surface, approaching the target nut without making contact."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, with slight finger adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 398, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and makes small positional adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place_release: Right hand positions the green hexagonal block onto the purple peg of the wooden stand and releases its grip on the block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward through the air toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table surface, then moves it upward and leftward to position it directly above the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, then moves the nut downward to fit the hole onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod until the nut rests steadily on the supporting green block below, maintaining grip on the nut throughout the movement."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach_grasp: Right hand moves downward from the position near the wooden block stand toward the hexagonal nut on the table in front of the stand, fingers stay slightly open during approach, close to establish initial contact with the target nut."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the contacted hexagonal nut stably on the table surface, with no observable movement of the hand, fingers or the target nut."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the black table to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block seated on the purple peg of the assembly stand."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward toward the purple rod fixed on the wooden assembly base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit onto the rod until it rests on the white block below."}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block positioned on the purple peg of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the dark table surface to establish a grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift: Right hand holds the white hexagonal nut and moves upward, lifting the nut completely off the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving toward the purple rod on the wooden block assembly until the nut is positioned directly above the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand holds the white hexagonal nut, aligns the nut's central hole with the purple rod, and moves downward to fit the nut onto the purple rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty from above the wooden block set downwards and rightwards to approach the nearest white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the nearest white hexagonal nut on the table, making slight finger adjustments to establish a secure grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: transport: Right hand carries the grasped white hexagonal block, moving it horizontally toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit it securely onto the rod over the existing block on the stand."}, {"label": "subtasks", "start_step": 1658, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward from the upper area near the purple cylinder to approach the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand flexes fingers to close around the white hexagonal nut, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface near the green block without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position above the empty purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1815, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand lowers the white hexagonal block down onto the purple peg until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand releases the purple-topped cylinder on the wooden block holder, with fingers opening to separate from the cylinder surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves down and right toward the small green block on the table, staying empty while approaching the target block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand adjusts finger positions around the small green block on the table, closing fingers to contact the block and prepare a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moves it upward and left toward the wooden bottle rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand lowers the green block onto the top of the front-right bottle on the rack, adjusts the block's position until it is stably supported by the bottle cap."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which stays seated on the bottle cap."}], "episode_index": 38}
+{"source_uid": "81eae6a2729593e2", "num_frames": 2279, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green cubic block on the left front side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "3128f0de-1e42-4b53-9f5b-4deb80de25a7"}, {"label": "valid", "start_step": 0, "end_step": 2248, "id": "lO_NELQoI4rzPVnWSG3Em"}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the black table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to form a grip."}, {"label": "goal", "start_step": 126, "end_step": 270, "id": "6658d941-16f4-4b68-b4b7-8b450de5d6fd"}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the area above the leftmost vertical post of the peg assembly set."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the green hexagonal block and mates it onto the leftmost vertical post of the peg assembly set."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight grip adjustments on the green hexagonal block fitted on the leftmost post, with fingers moving subtly to reposition contact points."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and moving away from the block surface."}, {"label": "goal", "start_step": 271, "end_step": 350, "id": "5989cccb-4c92-436f-a151-24a345b900f9"}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the green base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 351, "end_step": 495, "id": "b590b035-407e-4573-8a80-b361d0a8b891"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the supporting surface and transports it to the top of the leftmost purple pillar."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the leftmost purple pillar by aligning and fitting it onto the pillar."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal object down along the leftmost purple pillar to apply downward pressure."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the peg board to approach the white hexagonal piece on the table."}, {"label": "goal", "start_step": 496, "end_step": 710, "id": "70e2effa-aa87-4018-af6e-9869ad2287ff"}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal piece on the table slightly to adjust its orientation, with the piece staying on the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 711, "end_step": 870, "id": "838f8a80-30ac-4a41-a460-6e50fac281ac"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost post of the test tube rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost post of the test tube rack without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple vertical rod, with fingers opening."}, {"label": "goal", "start_step": 871, "end_step": 950, "id": "a1f3fed0-1e8e-476a-a707-d6831ef0e8f0"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the left side of the table."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 951, "end_step": 1090, "id": "233e4578-f54f-47c1-b6cd-eae4a1de38d8"}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece fitted on the purple peg, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the green hexagonal piece on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1080, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for and grasps the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1091, "end_step": 1125, "id": "170f99c4-6435-4d53-a720-35f62e6ecac9"}, {"label": "goal", "start_step": 1126, "end_step": 1245, "id": "e182cf07-4e05-472d-b954-0278f0ee4b4a"}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward from the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning its central hole with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block downward along the purple peg until it rests on the supporting white piece below."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1246, "end_step": 1340, "id": "7c500288-6a53-4ec0-b0c3-f8b991d8ff47"}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower area of the black table, keeping empty."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower black table, with fingers closing around the block."}, {"label": "goal", "start_step": 1341, "end_step": 1530, "id": "18d7c3ea-fe66-4020-9486-9ab5196e71ee"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the upper white hexagonal piece on the black table, not yet contacting the piece."}, {"label": "goal", "start_step": 1531, "end_step": 1600, "id": "d9d003e3-a682-406d-a8f8-ffdbe7c1e899"}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal piece on the table, with slight grip adjustments while the piece remains on the table surface."}, {"label": "goal", "start_step": 1601, "end_step": 1830, "id": "89b2bebf-f78e-4b63-bffa-011eae645249"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple vertical rod and lowers it to mate onto the top of the white cylinder below the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple rod without any movement."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1831, "end_step": 1915, "id": "21c200c4-39f8-4c4c-b9a2-9ffc5047416d"}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "goal", "start_step": 1916, "end_step": 2025, "id": "77bb03b6-ebce-4775-86c7-627e0b2fdaeb"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table while transporting it toward the wooden rack with cylindrical posts."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost post of the wooden rack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the purple-capped white bottle on the wooden tray."}, {"label": "goal", "start_step": 2026, "end_step": 2100, "id": "ad728647-4d6b-43c7-849e-197b29d2d2ea"}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches for the green cubic object on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2101, "end_step": 2210, "id": "ce006341-e6f0-4b9d-b4e3-f4183632a233"}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it towards the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the rightmost white bottle and fits it onto the bottle."}, {"label": "home", "start_step": 2249, "end_step": 2278, "id": "MMHHjmhAF2ih92Qiooe0-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green cubic block on the left front side of the wooden pegboard."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the black table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the area above the leftmost vertical post of the peg assembly set."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the green hexagonal block and mates it onto the leftmost vertical post of the peg assembly set."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight grip adjustments on the green hexagonal block fitted on the leftmost post, with fingers moving subtly to reposition contact points."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and moving away from the block surface."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the green base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the supporting surface and transports it to the top of the leftmost purple pillar."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the leftmost purple pillar by aligning and fitting it onto the pillar."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal object down along the leftmost purple pillar to apply downward pressure."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the peg board to approach the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal piece on the table slightly to adjust its orientation, with the piece staying on the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost post of the test tube rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost post of the test tube rack without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple vertical rod, with fingers opening."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the left side of the table."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece fitted on the purple peg, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the green hexagonal piece on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 1080, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for and grasps the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward from the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning its central hole with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block downward along the purple peg until it rests on the supporting white piece below."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower area of the black table, keeping empty."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1529, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the upper white hexagonal piece on the black table, not yet contacting the piece."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal piece on the table, with slight grip adjustments while the piece remains on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple vertical rod and lowers it to mate onto the top of the white cylinder below the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple rod without any movement."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table while transporting it toward the wooden rack with cylindrical posts."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost post of the wooden rack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the purple-capped white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches for the green cubic object on the black table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it towards the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the rightmost white bottle and fits it onto the bottle."}], "episode_index": 39}
+{"source_uid": "e3cc2692dd8bc45b", "num_frames": 2538, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block below the left side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "afd7c51c-1e66-4517-bd2d-c05404eaca93"}, {"label": "valid", "start_step": 0, "end_step": 2506, "id": "C3tY9p96TChS_kzumLDPZ"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it above the purple peg on the wooden base."}, {"label": "goal", "start_step": 131, "end_step": 255, "id": "7ad86371-2cfd-4c33-ae4a-095f02f2251a"}, {"label": "subtasks", "start_step": 150, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base by lowering it vertically."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the assembly rack to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 256, "end_step": 390, "id": "11aae338-6e8f-47a1-a18e-8952d89f3459"}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to establish stable grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal nut placed on the black tabletop."}, {"label": "goal", "start_step": 391, "end_step": 545, "id": "5fa13e0a-881f-4b1d-9a55-13d192955ee1"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and inserts it downwards onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the green base."}, {"label": "goal", "start_step": 546, "end_step": 625, "id": "3b975a4d-924b-4a37-a83b-1c214be89921"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to establish grasp on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 626, "end_step": 755, "id": "6247e7a2-e29c-4527-80de-484ed26588cd"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the topmost purple rod of the wooden rack, adjusting to align the rod with the hole of the object."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical part onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 756, "end_step": 860, "id": "f8c56cf8-13a8-45fe-b8d3-589424eee690"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal part on the black table."}, {"label": "goal", "start_step": 861, "end_step": 980, "id": "22b2dba1-bad2-4115-929c-bcf2b71b0207"}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "goal", "start_step": 981, "end_step": 1070, "id": "86b4009d-bedb-422d-9e2c-09f120efbdcc"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1071, "end_step": 1195, "id": "0d81c6b9-1d98-44bd-b269-a9d98aeb5ad0"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block and moves it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the green block to contact the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand presses the green block down along the purple post to fit it in place."}, {"label": "goal", "start_step": 1196, "end_step": 1275, "id": "d38b0b7b-678b-4346-a10f-1a057b1c8850"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: idle: Right hand stays empty above the white hexagonal ring on the black table without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1276, "end_step": 1425, "id": "6b6f6dea-cd8b-4f11-aa7f-739fe0967e00"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1358, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block down onto the purple rod until it is supported by the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1426, "end_step": 1505, "id": "07942de9-2ab4-4983-8d37-70127d06a7c3"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "goal", "start_step": 1506, "end_step": 1660, "id": "8806e08c-addb-4179-a9c2-565727b7f545"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod by opening fingers."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand retreats slightly away from the purple rod after releasing the block."}, {"label": "goal", "start_step": 1661, "end_step": 1755, "id": "d67ad743-e6e1-4753-9538-0067b1405ce8"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches towards the white hexagonal piece placed on the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand makes contact with the white hexagonal piece, fingers adjust to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1756, "end_step": 2275, "id": "e40ef684-f20e-4cf6-bd28-79ef7dae4944"}, {"label": "subtasks", "start_step": 1792, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod to attempt assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand adjusts the position and angle of the white hexagonal block above the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod again and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, separating fingers from the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down on the purple rod to secure it."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand retreats from the assembly position towards the right side of the table."}, {"label": "goal", "start_step": 2276, "end_step": 2340, "id": "09a80e0e-f05b-4b99-ae6c-f172556c2cbd"}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers around the green block, adjusting grip to form stable grasp."}, {"label": "subtasks", "start_step": 2332, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the grasped green block up away from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the green ring towards the rightmost white bottle on the wooden tray."}, {"label": "goal", "start_step": 2341, "end_step": 2470, "id": "f263660a-c45a-44d4-8a20-12437d7eaa21"}, {"label": "subtasks", "start_step": 2385, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green ring onto the rightmost white bottle on the wooden tray."}, {"label": "home", "start_step": 2507, "end_step": 2537, "id": "-CQqR5n0gJIyR1aGAdRph"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base by lowering it vertically."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the assembly rack to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to establish stable grasp."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal nut placed on the black tabletop."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and inserts it downwards onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the green base."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to establish grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the topmost purple rod of the wooden rack, adjusting to align the rod with the hole of the object."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical part onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block and moves it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the green block to contact the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand presses the green block down along the purple post to fit it in place."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: idle: Right hand stays empty above the white hexagonal ring on the black table without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1358, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block down onto the purple rod until it is supported by the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod by opening fingers."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand retreats slightly away from the purple rod after releasing the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches towards the white hexagonal piece placed on the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand makes contact with the white hexagonal piece, fingers adjust to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod to attempt assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand adjusts the position and angle of the white hexagonal block above the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod again and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, separating fingers from the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down on the purple rod to secure it."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand retreats from the assembly position towards the right side of the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers around the green block, adjusting grip to form stable grasp."}, {"label": "subtasks", "start_step": 2332, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the grasped green block up away from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the green ring towards the rightmost white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2385, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green ring onto the rightmost white bottle on the wooden tray."}], "episode_index": 40}
+{"source_uid": "18dbe043a90f2d56", "num_frames": 2679, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the green hexagonal nut on the black table surface, staying empty throughout the movement."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "3df47c98-dc28-44f6-86eb-1b4115a34c13"}, {"label": "valid", "start_step": 0, "end_step": 2646, "id": "4IjvBvJUCaaIo3swsk26Z"}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal nut on the table, making small finger and wrist movements to establish grip on the nut which remains on the table surface."}, {"label": "goal", "start_step": 141, "end_step": 255, "id": "4fcca199-c380-4361-bf25-f1f3912f7486"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand moves vertically upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the wooden pegboard to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand lowers the green hexagonal block downward along the purple peg until the block rests securely on the wooden base of the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward from the wooden block assembly base toward the white hexagonal nut placed on the table surface in front of the base, without touching the target nut during the movement."}, {"label": "goal", "start_step": 256, "end_step": 345, "id": "73506125-78d7-49a0-af8a-2452e089f1fe"}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to establish a stable grasp, with the nut remaining supported by the table surface throughout the process."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upwards until it fully leaves the black table surface."}, {"label": "goal", "start_step": 346, "end_step": 485, "id": "fe39a2ab-2fcf-4ba5-bcd8-88a4d1ba8928"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the wooden peg assembly, moving it to a position directly above the target green base."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal nut to align its central hole with the purple post on the target green base, lowering the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the white hexagonal sleeve, moves downward to set it onto the purple peg on the wooden base, releasing the grip as the sleeve rests stably on the peg."}, {"label": "goal", "start_step": 486, "end_step": 575, "id": "7b23ab83-3541-4324-894e-4a219eab3d7e"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 576, "end_step": 775, "id": "e190e603-d350-41e5-8bd1-87ec82060d5c"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position above the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 622, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowers the nut to fit it onto the peg, and makes small positional adjustments to properly seat the nut on the assembly base."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand holds the white hexagonal block, moves downward to set it onto the wooden base peg until the block is stably supported on the base."}, {"label": "goal", "start_step": 776, "end_step": 870, "id": "7b6ecef3-a5a3-494d-85d7-fd3a2b892b93"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward toward the nearest white hexagonal block on the table surface, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a grip on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it completely off the black table surface and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "goal", "start_step": 871, "end_step": 1000, "id": "c21f1a2e-c29e-4378-b7f7-935bed128f5a"}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand holds the white hexagonal nut, aligns its central hole with the purple post on the wooden base, and lowers the nut to fit onto the post with slight grip adjustments to seat it properly."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base until the nut is stably supported, with fingers opening to release the nut."}, {"label": "goal", "start_step": 1001, "end_step": 1070, "id": "e052937d-6dac-43ee-9b27-18ead3be12fb"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base, approaching the front green hexagonal nut on the black table surface, without establishing stable contact or grasp with the nut across the segment."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1071, "end_step": 1300, "id": "547f07bf-8cae-4238-9638-f64e0a219230"}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, transporting it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align with the purple rod, lowering the block to fit onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: idle: Right hand remains stationary above the wooden assembly base, with fingers lightly touching the green block on the base, no active grip on any object, and no visible movement."}, {"label": "goal", "start_step": 1301, "end_step": 1410, "id": "2466d224-90f7-45b7-8a55-25c2e8ab81f2"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1350, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand positions fingers around the white hexagonal block on the table, closing fingers and making small adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1411, "end_step": 1560, "id": "dc05ed30-feb6-41bb-b088-61ec99cbfdc1"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly base, moving the nut downward to fit and seat onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty from above the right side of the stacked block set toward the white hexagonal nut placed on the table adjacent to the wooden block base."}, {"label": "goal", "start_step": 1561, "end_step": 1625, "id": "d7cf99b5-b2f0-41fb-9173-2b2d5370c9fe"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table and closes fingers to secure a stable grasp on the nut, which remains resting on the table surface."}, {"label": "goal", "start_step": 1626, "end_step": 1730, "id": "9da1f8e4-cc07-4e4f-8393-b568a529b3f3"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, then moves it upward and toward the left to position the nut directly above the purple vertical post on the block base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the light purple cylindrical block, moves it downward to insert into the corresponding hole on the wooden block base, opens fingers to release the block stably secured in the hole."}, {"label": "goal", "start_step": 1731, "end_step": 1820, "id": "6519bd84-9e00-4d1f-8c29-0ec1b5d748ec"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface, with no observable movement of the hand or the block."}, {"label": "goal", "start_step": 1821, "end_step": 1985, "id": "a5513ccc-ebd1-4473-b362-558db55a7dfe"}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to position it above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple post on the wooden stand, makes small positional adjustments to fit the block onto the post, and opens its fingers to release the seated block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2031, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward and rightward from the area adjacent to the stacked white bottle set, with fingers open, approaching the green cube placed on the table without making contact."}, {"label": "goal", "start_step": 1986, "end_step": 2085, "id": "ce46bf3e-2bdc-407a-869a-ca1726c7158d"}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand makes contact with the green cube on the table, fingers gradually close around the cube with minor positional adjustments to form a grip, while the cube stays resting on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand holds the green block placed on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "goal", "start_step": 2086, "end_step": 2605, "id": "7e4191c7-7e02-4630-ab53-aee729c9468d"}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand carries the lifted green block and moves it horizontally toward the purple cylindrical post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the green block to align its central hole with the top of the purple cylindrical post, guiding the block to fit onto the post."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand moves the green block downward along the purple post until the block rests stably on the rack, supported by the post structure."}, {"label": "home", "start_step": 2647, "end_step": 2678, "id": "YVS8P4ceOhkAxrsA038T5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the green hexagonal nut on the black table surface, staying empty throughout the movement."}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal nut on the table, making small finger and wrist movements to establish grip on the nut which remains on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand moves vertically upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the wooden pegboard to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand lowers the green hexagonal block downward along the purple peg until the block rests securely on the wooden base of the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward from the wooden block assembly base toward the white hexagonal nut placed on the table surface in front of the base, without touching the target nut during the movement."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to establish a stable grasp, with the nut remaining supported by the table surface throughout the process."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upwards until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the wooden peg assembly, moving it to a position directly above the target green base."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal nut to align its central hole with the purple post on the target green base, lowering the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the white hexagonal sleeve, moves downward to set it onto the purple peg on the wooden base, releasing the grip as the sleeve rests stably on the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position above the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 622, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowers the nut to fit it onto the peg, and makes small positional adjustments to properly seat the nut on the assembly base."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand holds the white hexagonal block, moves downward to set it onto the wooden base peg until the block is stably supported on the base."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward toward the nearest white hexagonal block on the table surface, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a grip on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it completely off the black table surface and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand holds the white hexagonal nut, aligns its central hole with the purple post on the wooden base, and lowers the nut to fit onto the post with slight grip adjustments to seat it properly."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base until the nut is stably supported, with fingers opening to release the nut."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base, approaching the front green hexagonal nut on the black table surface, without establishing stable contact or grasp with the nut across the segment."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, transporting it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align with the purple rod, lowering the block to fit onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: idle: Right hand remains stationary above the wooden assembly base, with fingers lightly touching the green block on the base, no active grip on any object, and no visible movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1350, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand positions fingers around the white hexagonal block on the table, closing fingers and making small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly base, moving the nut downward to fit and seat onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty from above the right side of the stacked block set toward the white hexagonal nut placed on the table adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table and closes fingers to secure a stable grasp on the nut, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, then moves it upward and toward the left to position the nut directly above the purple vertical post on the block base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the light purple cylindrical block, moves it downward to insert into the corresponding hole on the wooden block base, opens fingers to release the block stably secured in the hole."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to position it above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple post on the wooden stand, makes small positional adjustments to fit the block onto the post, and opens its fingers to release the seated block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2031, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward and rightward from the area adjacent to the stacked white bottle set, with fingers open, approaching the green cube placed on the table without making contact."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand makes contact with the green cube on the table, fingers gradually close around the cube with minor positional adjustments to form a grip, while the cube stays resting on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand holds the green block placed on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand carries the lifted green block and moves it horizontally toward the purple cylindrical post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the green block to align its central hole with the top of the purple cylindrical post, guiding the block to fit onto the post."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand moves the green block downward along the purple post until the block rests stably on the rack, supported by the post structure."}], "episode_index": 41}
+{"source_uid": "1141ff82447d94d2", "num_frames": 2668, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture at the left side of the table, remaining empty and without contact to any object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal part in front of the wooden base, with fingers open and empty."}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "8190b0dc-05df-45a7-a189-9c79887901ff"}, {"label": "valid", "start_step": 0, "end_step": 2636, "id": "uYknkm-CW_m_D0vTSN7A1"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal part in front of the wooden base, with fingers open and empty."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal part on the table, with slight finger adjustments to stabilize the grip, the part remains on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal part upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green hexagonal part with the leftmost purple peg on the wooden base, and inserts the part downward onto the peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 226, "end_step": 475, "id": "58897fd2-1854-4594-ac61-98fd8b0e4470"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and rightward to above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and moves it downward to fit the block onto the peg until it touches the base."}, {"label": "subtasks", "start_step": 285, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to ensure it is fully seated on the base."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the block on the pegboard, with fingers gradually opening."}, {"label": "goal", "start_step": 476, "end_step": 580, "id": "2c34edba-2c6a-4a5a-b796-c0c1e9b19d3d"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 581, "end_step": 720, "id": "a4ed5c96-fa2d-4b0b-9110-8778cc84baea"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it above the leftmost front purple post of the test tube rack."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost front purple post of the test tube rack, aligning the central hole and lowering it fully onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal piece on the purple post without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening and separating from the piece."}, {"label": "goal", "start_step": 721, "end_step": 825, "id": "93bc3006-bde0-4635-9bfb-8194562ce4b9"}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 826, "end_step": 960, "id": "46858951-5492-4c39-b999-a5105cc1f261"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 862, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand fits the white hexagonal block onto the leftmost peg of the wooden rack to complete assembly."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and detaching from the block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: idle: Right hand stays empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the white hexagonal object on the black table."}, {"label": "goal", "start_step": 961, "end_step": 1075, "id": "e61b7283-4436-4689-be10-ad3c1573867c"}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 1076, "end_step": 1235, "id": "cefef5f7-6a91-4cf1-bff8-a92bf8a8305a"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the middle purple peg and slides the block down the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1236, "end_step": 1330, "id": "2e68b651-0833-471e-a683-91c31671efa4"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1331, "end_step": 1460, "id": "4ffe83fc-03ce-4ef5-8cdc-a0baac09d917"}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the corresponding peg of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the purple rod and green block on the wooden pegboard, with fingers opening gradually."}, {"label": "goal", "start_step": 1461, "end_step": 1550, "id": "407d7f3e-e60e-4d18-9e4d-85a365b074b6"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow object on the green block at the right side of the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 1551, "end_step": 1675, "id": "946226c9-ed77-4ab3-b1a5-c0b4794ced08"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the supporting surface and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal object with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal object down along the purple peg to fit it firmly into position."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical part on the purple vertical rod, with fingers opening and separating from the part."}, {"label": "goal", "start_step": 1676, "end_step": 1785, "id": "ed7ad3d7-4a7f-48cb-9dc5-21a9a87bad80"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface with empty hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting contact position to form a stable grip."}, {"label": "goal", "start_step": 1786, "end_step": 1920, "id": "e132a4d7-ff32-4bd3-97fb-7acc2e460d50"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats from the purple rod area to the lower right side of the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1921, "end_step": 1995, "id": "4241462f-e8e4-4df1-bff6-3af78168dfa6"}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hollow block on the right side of the table without moving."}, {"label": "goal", "start_step": 1996, "end_step": 2145, "id": "1327dff0-ff39-4d22-a333-97f88206030c"}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hollow block with the purple rod by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hollow block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2146, "end_step": 2235, "id": "36797b5b-7872-4293-8e98-c078e5b32b9e"}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the purple top of the white bottle at the front right position of the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, without touching the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 2236, "end_step": 2595, "id": "35d3cf9b-9015-4648-848f-b977dd408dc6"}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the green hollow square block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the green hollow square block and moves left-upward to the position above the rightmost pillar of the white rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2361, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hollow square block with the rightmost pillar of the white rack and fits it down onto the pillar to form an assembly relationship."}, {"label": "subtasks", "start_step": 2362, "end_step": 2579, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green hollow square block downward along the pillar to adjust and compact its position on the pillar."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the green hollow square block, separating from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand moves rightward as an empty hand, retreating from the operation position near the white rack."}, {"label": "home", "start_step": 2637, "end_step": 2667, "id": "_vYTk4ngkRZl9yFoLb1JJ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture at the left side of the table, remaining empty and without contact to any object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal part in front of the wooden base, with fingers open and empty."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal part in front of the wooden base, with fingers open and empty."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal part on the table, with slight finger adjustments to stabilize the grip, the part remains on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal part upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green hexagonal part with the leftmost purple peg on the wooden base, and inserts the part downward onto the peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and rightward to above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and moves it downward to fit the block onto the peg until it touches the base."}, {"label": "subtasks", "start_step": 285, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to ensure it is fully seated on the base."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the block on the pegboard, with fingers gradually opening."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it above the leftmost front purple post of the test tube rack."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost front purple post of the test tube rack, aligning the central hole and lowering it fully onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal piece on the purple post without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 862, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand fits the white hexagonal block onto the leftmost peg of the wooden rack to complete assembly."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and detaching from the block."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: idle: Right hand stays empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the middle purple peg and slides the block down the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the corresponding peg of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the purple rod and green block on the wooden pegboard, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow object on the green block at the right side of the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the supporting surface and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal object with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal object down along the purple peg to fit it firmly into position."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical part on the purple vertical rod, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface with empty hand."}, {"label": "subtasks", "start_step": 1718, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting contact position to form a stable grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats from the purple rod area to the lower right side of the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hollow block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hollow block with the purple rod by aligning and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hollow block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the purple top of the white bottle at the front right position of the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, without touching the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the green hollow square block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the green hollow square block and moves left-upward to the position above the rightmost pillar of the white rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2361, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hollow square block with the rightmost pillar of the white rack and fits it down onto the pillar to form an assembly relationship."}, {"label": "subtasks", "start_step": 2362, "end_step": 2579, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green hollow square block downward along the pillar to adjust and compact its position on the pillar."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the green hollow square block, separating from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand moves rightward as an empty hand, retreating from the operation position near the white rack."}], "episode_index": 42}
+{"source_uid": "2556948c6464ea6c", "num_frames": 2768, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture slightly at the left side of the operation area. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "c892aba1-717e-4f0d-97f9-93656720d941"}, {"label": "valid", "start_step": 0, "end_step": 2739, "id": "vGCkREggAvtn2MT65L7wn"}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand approaches the green cube, fingers open and adjust to make contact with the green cube to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green cube on the black tabletop without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "goal", "start_step": 136, "end_step": 330, "id": "4872707a-693e-4a54-b6f2-c37a0da35423"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block to above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the purple post without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 331, "end_step": 410, "id": "8f14c960-db63-435c-834a-cdd8c4e79c28"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes and adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand holds the white hexagonal workpiece and moves it to the position above the leftmost purple rod on the green base."}, {"label": "goal", "start_step": 411, "end_step": 570, "id": "90c32f87-0741-4ebd-8f7a-c8784c234595"}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal workpiece with the leftmost purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal workpiece down along the leftmost purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal workpiece."}, {"label": "goal", "start_step": 571, "end_step": 665, "id": "72f68d75-4835-4d77-89ed-10d1b2c32eb8"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 666, "end_step": 850, "id": "2ce43c19-2981-4bfd-8618-8fef9e2bc94e"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the middle wooden base."}, {"label": "goal", "start_step": 851, "end_step": 930, "id": "b167c477-8329-4a6a-ae78-5c654ec434c0"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it fully leaves the support."}, {"label": "goal", "start_step": 931, "end_step": 1070, "id": "f6ee146d-5372-4676-a8bf-da3982ee7fc4"}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod, then releases the grip on the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1071, "end_step": 1145, "id": "80e14275-fb58-4d8d-8708-0af7f1a8031c"}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 1146, "end_step": 1310, "id": "d3b92221-32ed-4ad7-bae2-26c0a4ecff98"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by aligning and pressing it down."}, {"label": "subtasks", "start_step": 1305, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1311, "end_step": 1385, "id": "668d38e6-f1bc-4fd2-9a6f-5f585c005a5c"}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1386, "end_step": 1530, "id": "062bb23b-fc0b-42da-b958-0200d4c4549a"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves from the wooden base area toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1531, "end_step": 1600, "id": "e456c72e-16a6-4475-b740-3d7894f472fd"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 1601, "end_step": 2035, "id": "85cab463-f926-4af6-80fa-75180a58d55e"}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the target post on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block to ensure stable fitting on the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "goal", "start_step": 2036, "end_step": 2125, "id": "34d2a115-f813-42a0-87ac-8358ccf697f3"}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the rightmost post of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 2126, "end_step": 2260, "id": "84b40458-2650-4370-ac6b-97fe411aafd5"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: reach: Left hand moves towards the wooden rack on the table. | Right hand: place: Right hand places the white hexagonal ring onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block with purple top upwards from the wooden base."}, {"label": "goal", "start_step": 2261, "end_step": 2365, "id": "8c2c9671-a52c-4978-ab25-de33f06a7221"}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the lower part of the black table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the black table surface."}, {"label": "goal", "start_step": 2366, "end_step": 2680, "id": "12ec6b86-bc6b-48b2-ac33-cee2cd89e681"}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2572, "end_step": 2661, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block and moves fingers away from the bottle."}, {"label": "home", "start_step": 2740, "end_step": 2767, "id": "paDE9XBhNBmPbI5jaP0zy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture slightly at the left side of the operation area. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop in front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand approaches the green cube, fingers open and adjust to make contact with the green cube to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green cube on the black tabletop without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block to above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the purple post without moving."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes and adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand holds the white hexagonal workpiece and moves it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal workpiece with the leftmost purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal workpiece down along the leftmost purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal workpiece."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the middle wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it fully leaves the support."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod, then releases the grip on the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by aligning and pressing it down."}, {"label": "subtasks", "start_step": 1305, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves from the wooden base area toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the target post on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block to ensure stable fitting on the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the rightmost post of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: reach: Left hand moves towards the wooden rack on the table. | Right hand: place: Right hand places the white hexagonal ring onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block with purple top upwards from the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the lower part of the black table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2572, "end_step": 2661, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block and moves fingers away from the bottle."}], "episode_index": 43}
+{"source_uid": "0f675a284b4b0b37", "num_frames": 2473, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand, empty with extended fingers, moves downward and forward toward the green hexagonal nut on the table in front of the wooden peg stand."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "d7eb489b-f692-4f14-b453-a58befb6d91e"}, {"label": "valid", "start_step": 0, "end_step": 2444, "id": "DSnoNsWR1AXHYfP-s-K_C"}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting finger positions and closing fingers to establish a grasp, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 131, "end_step": 280, "id": "ab3ee415-2eab-4489-8b93-5ffba2a341d6"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the top of the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple post until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, remaining empty and not contacting the block during movement."}, {"label": "goal", "start_step": 281, "end_step": 370, "id": "25d6c21a-d488-4d2b-aa9c-beb10f191aee"}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the target white hexagonal block on the table to establish a stable grip, with slight finger movements observed throughout the process."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without observable movement of the hand, fingers or the nut."}, {"label": "goal", "start_step": 371, "end_step": 500, "id": "bc371966-e72f-4be1-8b3f-20502b3db8cb"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand moves upward while grasping the white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden rack, positioning the nut directly above a purple cylindrical post on the rack."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, moving the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves from the position above the wooden assembly stand downward toward the white hexagonal block placed on the black table surface, staying empty and not touching the target block throughout the movement."}, {"label": "goal", "start_step": 501, "end_step": 585, "id": "d6c56edf-914a-4f95-8177-22dbca0ab154"}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, adjusting finger positions and closing fingers around the block to form a stable grasp."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "goal", "start_step": 586, "end_step": 715, "id": "3b4932a2-400e-45c9-9dbd-2e04136e17b3"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, moving it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, lowering it to fit onto the peg and rest on the green block below."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block, moving backward away from the assembled structure."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table near the wooden block stand."}, {"label": "goal", "start_step": 716, "end_step": 775, "id": "d0293856-0b34-4a3e-8aa0-918cc3582b65"}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grasp."}, {"label": "goal", "start_step": 776, "end_step": 955, "id": "7ad368af-720b-4bb3-9b97-a28a0bed7cb0"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally to position it directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers it to fit onto the post, making slight adjustments to ensure proper alignment."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: place_release: Right hand moves the light purple sleeve down along the purple peg until it rests on the white sleeve below, then opens fingers to release the sleeve."}, {"label": "goal", "start_step": 956, "end_step": 1060, "id": "323565ea-cb95-4359-a034-b9822759f8cd"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block on the black table surface, extending fingers as it approaches the target block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, gradually closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1061, "end_step": 1205, "id": "8758a808-145e-404e-a145-57369964f36c"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block stationary directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand moves the green hexagonal block downward along the purple peg, fitting the block onto the peg to align the assembly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand releases the white cylindrical component on the wooden pegboard, with fingers opening to separate from the component surface."}, {"label": "goal", "start_step": 1206, "end_step": 1315, "id": "6211c363-9d45-4a04-9c0f-7795d3461a7e"}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, with fingers closing and adjusting positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 1316, "end_step": 1645, "id": "a3196a49-4c21-4f6b-89b4-59233eae7542"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward to the position above a peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1358, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal block's orientation slightly, aligns it with the target peg on the wooden block stand, and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the wooden stand peg without any observable movement."}, {"label": "goal", "start_step": 1646, "end_step": 1745, "id": "dc1a3d19-34eb-4a56-aafc-b06158ab77b2"}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release_reach: Right hand opens fingers to release the white hexagonal block on the wooden stand, moves downward and rightward across the table toward the loose white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making slight finger adjustments to establish contact with the block."}, {"label": "goal", "start_step": 1746, "end_step": 1905, "id": "cbceeeeb-c282-4fa1-ad86-1425c6b888d0"}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, transports it upward and leftward to position the nut directly above the empty purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1904, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, adjusts the nut's orientation and presses it downward to fit the nut onto the rod as part of the block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold_release: Right hand holds the white hexagonal block on the purple post and releases its grasp from the block."}, {"label": "goal", "start_step": 1906, "end_step": 1990, "id": "74332ae6-3c3e-48b7-a822-8e6d8f525382"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a grasp."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block on the table surface near the green block without moving."}, {"label": "goal", "start_step": 1991, "end_step": 2130, "id": "3e86c404-2b24-400b-863d-e9a546a5ccf6"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the purple post on the stacked block base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and presses it downward to fit the block securely onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves from the right side of the bottle rack toward the green cube on the lower right table surface, with fingers slightly open during the movement."}, {"label": "goal", "start_step": 2131, "end_step": 2220, "id": "8bcce38f-73ee-48d0-990e-4f718ecdf33f"}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing and adjusting fingers to establish a grip on the cube."}, {"label": "goal", "start_step": 2221, "end_step": 2405, "id": "77d74a76-8aee-4c6b-ab2b-7e093aa47b15"}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and moves it upward to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2280, "end_step": 2391, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the target white bottle and fits the block securely onto the bottle."}, {"label": "subtasks", "start_step": 2392, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cubic block that is fitted on the white bottle."}, {"label": "home", "start_step": 2445, "end_step": 2472, "id": "9jHlGgKEx1-90h318-f9G"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand, empty with extended fingers, moves downward and forward toward the green hexagonal nut on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting finger positions and closing fingers to establish a grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the top of the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple post until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, remaining empty and not contacting the block during movement."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the target white hexagonal block on the table to establish a stable grip, with slight finger movements observed throughout the process."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand moves upward while grasping the white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden rack, positioning the nut directly above a purple cylindrical post on the rack."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, moving the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves from the position above the wooden assembly stand downward toward the white hexagonal block placed on the black table surface, staying empty and not touching the target block throughout the movement."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, adjusting finger positions and closing fingers around the block to form a stable grasp."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, moving it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, lowering it to fit onto the peg and rest on the green block below."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block, moving backward away from the assembled structure."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table near the wooden block stand."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally to position it directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers it to fit onto the post, making slight adjustments to ensure proper alignment."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: place_release: Right hand moves the light purple sleeve down along the purple peg until it rests on the white sleeve below, then opens fingers to release the sleeve."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block on the black table surface, extending fingers as it approaches the target block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, gradually closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block stationary directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand moves the green hexagonal block downward along the purple peg, fitting the block onto the peg to align the assembly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand releases the white cylindrical component on the wooden pegboard, with fingers opening to separate from the component surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, with fingers closing and adjusting positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward to the position above a peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1358, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal block's orientation slightly, aligns it with the target peg on the wooden block stand, and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the wooden stand peg without any observable movement."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release_reach: Right hand opens fingers to release the white hexagonal block on the wooden stand, moves downward and rightward across the table toward the loose white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making slight finger adjustments to establish contact with the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, transports it upward and leftward to position the nut directly above the empty purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1904, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, adjusts the nut's orientation and presses it downward to fit the nut onto the rod as part of the block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold_release: Right hand holds the white hexagonal block on the purple post and releases its grasp from the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a grasp."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block on the table surface near the green block without moving."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the purple post on the stacked block base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and presses it downward to fit the block securely onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves from the right side of the bottle rack toward the green cube on the lower right table surface, with fingers slightly open during the movement."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing and adjusting fingers to establish a grip on the cube."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and moves it upward to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2280, "end_step": 2391, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the target white bottle and fits the block securely onto the bottle."}, {"label": "subtasks", "start_step": 2392, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cubic block that is fitted on the white bottle."}], "episode_index": 44}
+{"source_uid": "770fc1e6629692a4", "num_frames": 2763, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers while remaining at the left side of the table, with no arm displacement. | Right hand: idle: Right hand remains empty and stationary at the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "fe06074a-4699-47a2-88d7-169e46f21792"}, {"label": "valid", "start_step": 0, "end_step": 2731, "id": "funmlR4ex81oMevrzhHuh"}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty and stationary at the right side of the table."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 136, "end_step": 485, "id": "a208e422-61e3-4ef4-a87d-f3ed5b360d2e"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it onto the peg with continuous slight downward adjustments."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white cylindrical sleeve onto the purple peg of the wooden rack and releases the grip."}, {"label": "goal", "start_step": 486, "end_step": 585, "id": "76ad6c68-95c5-40cd-aac3-7beae0ef0af2"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with continuous finger adjustments."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 586, "end_step": 750, "id": "4079b799-7241-434c-a9cf-f11c8c614946"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to above the leftmost tube of the test tube rack."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost tube of the test tube rack by fitting it down along the tube."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost tube without moving."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers to detach from the block."}, {"label": "goal", "start_step": 751, "end_step": 840, "id": "166f349f-2d22-4695-9561-f9d5267e5c63"}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal part on the dark table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 841, "end_step": 1030, "id": "f996b2c1-09c0-483f-afed-3f1ad6f9bc99"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while moving it to the position above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 885, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post of the rack and lowers it onto the post to complete the fitting assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block on the top of the rightmost purple rod of the wooden base."}, {"label": "goal", "start_step": 1031, "end_step": 1120, "id": "2386e928-3fc6-432b-86ed-f0b07f54cb44"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the left side of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the left side of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1121, "end_step": 1270, "id": "67506ee7-148d-4aed-8f05-54ea47a9b245"}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_place: Right hand aligns and inserts the white hexagonal piece onto the middle purple peg, sliding it down along the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the right purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 1271, "end_step": 1365, "id": "90928516-8224-4616-a427-1b59b8ddc020"}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers around the green hexagonal block on the black table surface to form a stable grasp."}, {"label": "goal", "start_step": 1366, "end_step": 1515, "id": "05c3fefc-1d0d-4277-877b-d1dd2f8d71e4"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the middle peg of the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg of the wooden rack and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hexagonal block nested on the middle peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1516, "end_step": 1600, "id": "0088769e-cd54-41e3-a5e0-0ac04cffcf78"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table below the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting around the part."}, {"label": "goal", "start_step": 1601, "end_step": 1845, "id": "8ee72a72-170a-4602-be5f-f3789e8da851"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1844, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base, making slight adjustments to align and insert the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical piece on the front-right green base post, with fingers opening from a closed grasp."}, {"label": "goal", "start_step": 1846, "end_step": 1955, "id": "5ce23d05-6de7-49e4-b35a-a641fc0d8a3f"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves down toward the upper white hexagonal piece on the table surface as an empty hand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table, with fingers closing around the piece to form a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1956, "end_step": 2130, "id": "edca7a9e-3a8f-43b4-b9ed-00158261ba85"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2121, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block downward along the rod until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2129, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward away from the rod assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 2131, "end_step": 2235, "id": "c12cbe37-d177-4ec8-a647-e6e54e1be5b9"}, {"label": "subtasks", "start_step": 2175, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2236, "end_step": 2455, "id": "8d994ed6-8c36-419e-a156-253c1c2d33ac"}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the wooden rack with cylindrical objects."}, {"label": "subtasks", "start_step": 2280, "end_step": 2414, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod on the rightmost column of the wooden rack and fits the ring onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal ring, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 2438, "end_step": 2444, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty next to the wooden rack without moving."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the purple top of the front-right bottle on the wooden base, with fingers opening and separating from the bottle."}, {"label": "goal", "start_step": 2456, "end_step": 2550, "id": "9492b968-b6be-4d90-91a2-0e2a356700e0"}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2564, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers closing around the cube to adjust the grip."}, {"label": "goal", "start_step": 2551, "end_step": 2690, "id": "e7ef0886-8fa1-4778-a461-8b1254fc58c7"}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it toward the white bottle assembly at the center of the table."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green cubic block with the top of the rightmost white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green cubic block fitted on the rightmost white bottle without moving."}, {"label": "home", "start_step": 2732, "end_step": 2762, "id": "c6HtIjtRs7dU2WxthyYew"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers while remaining at the left side of the table, with no arm displacement. | Right hand: idle: Right hand remains empty and stationary at the right side of the table."}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty and stationary at the right side of the table."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it onto the peg with continuous slight downward adjustments."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white cylindrical sleeve onto the purple peg of the wooden rack and releases the grip."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with continuous finger adjustments."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to above the leftmost tube of the test tube rack."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost tube of the test tube rack by fitting it down along the tube."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost tube without moving."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers to detach from the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal part on the dark table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while moving it to the position above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 885, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post of the rack and lowers it onto the post to complete the fitting assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block on the top of the rightmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the left side of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the left side of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_place: Right hand aligns and inserts the white hexagonal piece onto the middle purple peg, sliding it down along the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the right purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers around the green hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the middle peg of the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg of the wooden rack and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hexagonal block nested on the middle peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table below the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting around the part."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1844, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base, making slight adjustments to align and insert the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical piece on the front-right green base post, with fingers opening from a closed grasp."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves down toward the upper white hexagonal piece on the table surface as an empty hand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table, with fingers closing around the piece to form a grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2121, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block downward along the rod until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2129, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward away from the rod assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2175, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the wooden rack with cylindrical objects."}, {"label": "subtasks", "start_step": 2280, "end_step": 2414, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod on the rightmost column of the wooden rack and fits the ring onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal ring, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 2438, "end_step": 2444, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty next to the wooden rack without moving."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the purple top of the front-right bottle on the wooden base, with fingers opening and separating from the bottle."}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2564, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers closing around the cube to adjust the grip."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it toward the white bottle assembly at the center of the table."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green cubic block with the top of the rightmost white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green cubic block fitted on the rightmost white bottle without moving."}], "episode_index": 45}
+{"source_uid": "197922157cfdd254", "num_frames": 2430, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "8271fa6f-4748-4b1b-af3f-5ef44988ae92"}, {"label": "valid", "start_step": 0, "end_step": 2399, "id": "_3AawDi6rIq_kx6Nc78g8"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, with fingers adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 156, "end_step": 285, "id": "8ff08f2c-0d77-4afe-b730-cccb507bd135"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the green block onto the purple peg of the wooden rack, adjusting its position to fit."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white capped block from the purple peg on the wooden base."}, {"label": "goal", "start_step": 286, "end_step": 445, "id": "b44ef8a6-ceab-4006-8a2e-ab18c0f70c41"}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white capped block downward towards the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white capped block onto the black table surface and releases it."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 446, "end_step": 565, "id": "393aea6b-313b-4db1-ad09-c8d6674e8760"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, adjusting position to fully fit onto the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 566, "end_step": 655, "id": "e5931a83-5269-4533-920b-a6a33544a5e6"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the table surface without touching it."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 656, "end_step": 825, "id": "2c38931a-9c51-4df5-9684-fe1169922183"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod, adjusting position to make it fit properly."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block which is now mounted on the purple rod."}, {"label": "goal", "start_step": 826, "end_step": 905, "id": "bbb64a84-4984-4e26-bfe7-349b49cb6c92"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat_reach: Right hand retreats from the wooden base and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 906, "end_step": 1070, "id": "d40da10b-3be2-4186-882a-fdbcba6ecde6"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base, adjusting to fit it onto the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1071, "end_step": 1150, "id": "c05651d8-9f1e-4328-84b9-6c90ccc84d89"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table surface."}, {"label": "goal", "start_step": 1151, "end_step": 1360, "id": "78361448-5eab-439f-82b6-39fea9e1397c"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the pole on the wooden rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the white pole on the wooden rack and inserts it onto the pole."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green block down along the pole to fix it."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the green block on the pole without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the green block onto the peg on the wooden base until it is supported stably."}, {"label": "goal", "start_step": 1361, "end_step": 1460, "id": "e29c1990-8d6a-4faa-9917-964d5c84635a"}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1461, "end_step": 1630, "id": "9edec1c8-8118-43d4-8f7b-e0ff33c5626c"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves fingers slightly away."}, {"label": "goal", "start_step": 1631, "end_step": 1730, "id": "3b3b15d9-122d-4633-ba6f-91682e477bb2"}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black table surface."}, {"label": "goal", "start_step": 1731, "end_step": 1895, "id": "bf76a364-5b15-40bb-bf6c-ae9d82dd48c8"}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block completely off the black tabletop."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block horizontally to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, then inserts it down along the rod until it rests on the lower white block on the base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press_release: Right hand presses the white block onto the purple post on the wooden base and releases the block."}, {"label": "goal", "start_step": 1896, "end_step": 2000, "id": "9764c3f6-ddb2-40e6-b63d-3df556375185"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2001, "end_step": 2145, "id": "a6db5424-a411-41a9-a72e-98b4fcb86550"}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2121, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the bottle onto the wooden tray and releases the grip on the bottle."}, {"label": "goal", "start_step": 2146, "end_step": 2230, "id": "9983674e-9348-46c6-8127-c2f753f83453"}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "goal", "start_step": 2231, "end_step": 2350, "id": "07779a13-4319-432c-b97d-b75f549437ef"}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle on the wooden rack."}, {"label": "home", "start_step": 2400, "end_step": 2429, "id": "nI41xn5IWGYue5xm3tFF1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, with fingers adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the green block onto the purple peg of the wooden rack, adjusting its position to fit."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white capped block from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white capped block downward towards the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white capped block onto the black table surface and releases it."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, adjusting position to fully fit onto the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the table surface without touching it."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod, adjusting position to make it fit properly."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block which is now mounted on the purple rod."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat_reach: Right hand retreats from the wooden base and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base, adjusting to fit it onto the rod."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the pole on the wooden rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the white pole on the wooden rack and inserts it onto the pole."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green block down along the pole to fix it."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the green block on the pole without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the green block onto the peg on the wooden base until it is supported stably."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves fingers slightly away."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block completely off the black tabletop."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block horizontally to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, then inserts it down along the rod until it rests on the lower white block on the base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press_release: Right hand presses the white block onto the purple post on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2040, "end_step": 2121, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the bottle onto the wooden tray and releases the grip on the bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle on the wooden rack."}], "episode_index": 46}
+{"source_uid": "33cfc6a0df910b6e", "num_frames": 2584, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves from its initial upper right position downward toward the green hexagonal block in front-left of the wooden peg stand, with fingers held open."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "481a9d17-9682-45bb-81b0-ba2fc5bb3fda"}, {"label": "valid", "start_step": 0, "end_step": 2558, "id": "NRi83xMKpRzHpeE5mEL42"}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the black table surface, adjusting finger positions to close around the block to form a grasp."}, {"label": "goal", "start_step": 161, "end_step": 305, "id": "cac28b69-f4ae-4dbf-85aa-68ca703a1388"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 306, "end_step": 380, "id": "b1e41b24-86d8-4e44-9c90-51364b2515fa"}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is completely off the black table surface."}, {"label": "goal", "start_step": 381, "end_step": 515, "id": "8c3dde03-6e2c-40b0-a82a-ea325bc7eeaa"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to move toward the wooden rack, positioning the nut directly above the leftmost purple post."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut, aligning the central hole of the nut with the leftmost purple post to fit the post into the hole."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal nut sleeved on the upper part of the purple post without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple post until the nut is stably supported by the green hexagonal block below."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the table surface, with fingers held open."}, {"label": "goal", "start_step": 516, "end_step": 590, "id": "cf28c00f-d471-485f-ad02-58a30da47a29"}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to form a grip."}, {"label": "goal", "start_step": 591, "end_step": 755, "id": "f9972cd9-8059-4d8b-9fa8-7f72bf241470"}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface, moving it upward to the position above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 652, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden base holding bottles and purple posts, approaching the front white hexagonal nut on the black table surface with an open empty hand, not yet contacting the target."}, {"label": "goal", "start_step": 756, "end_step": 850, "id": "d57fadbe-d917-4f51-b148-fcc1daf24b75"}, {"label": "subtasks", "start_step": 758, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden base holding bottles and purple posts, approaching the front white hexagonal nut on the black table surface with an open empty hand, not yet contacting the target."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand contacts the top of the front white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip, with observable small movements of the fingers and wrist."}, {"label": "goal", "start_step": 851, "end_step": 985, "id": "5b0a5764-6d00-4d16-82a1-aa2c2bd018c6"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg on the wooden rack, moves the nut downward to fit onto the peg, and makes small positional adjustments during the alignment process."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to place it onto the purple vertical rod on the wooden assembly base, releasing the block once it is stably supported by the base."}, {"label": "goal", "start_step": 986, "end_step": 1075, "id": "eb7b4b27-69f7-4d60-a213-b1c2f3aa4d50"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block resting on the black table surface, approaching the block without establishing grasping contact."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand fingers close around the green hexagonal block on the table, making slight finger adjustments to form stable contact with the block."}, {"label": "goal", "start_step": 1076, "end_step": 1255, "id": "3496222f-850a-4bbf-86cd-a0560346dd30"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand moves vertically upward with the gripped green hexagonal block, lifting the block completely free of the dark table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally across the workspace toward the purple pegs attached to the light wooden block base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand makes small positional and rotational adjustments to the green hexagonal block to align its central hole with the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand lowers the aligned green hexagonal block vertically down the purple peg until the block rests securely on the underlying stacked blocks, maintaining a grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted on the purple rod of the wooden assembly stand, separating fingers from the block surface."}, {"label": "goal", "start_step": 1256, "end_step": 1350, "id": "36f8bc4e-7a68-4de1-ba87-197e10e06a1a"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward empty from the assembly stand area toward the green hexagonal block placed on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers closing and making fine adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 1351, "end_step": 1480, "id": "4cc7378a-ae60-4573-b9bd-8869eb6af692"}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, and carries it upward toward the wooden peg assembly to position it directly above the purple peg."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand moves the white hexagonal block downward to align its central hole with the purple peg, fitting the block onto the top of the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand slides the white hexagonal block down along the purple peg, lowering it until it rests on the green supporting block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place_release: Right hand places the white cylindrical block with green base onto the wooden block base, releasing the grip as fingers open."}, {"label": "goal", "start_step": 1481, "end_step": 1570, "id": "731b99d5-f930-4026-aae2-bc07f8b16bd4"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves empty toward the white hexagonal block placed on the right side of the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small grip adjustments to secure contact with the block."}, {"label": "goal", "start_step": 1571, "end_step": 1820, "id": "428ae27e-bc07-462c-907c-3edfa5f5b29e"}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal piece off the table surface, moving it upward and left toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the purple vertical rod, adjusting orientation and vertical position to slide the piece down the rod into assembled position."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal piece resting on the purple rod."}, {"label": "goal", "start_step": 1821, "end_step": 1915, "id": "fc428edf-34dd-47d4-9d44-60ccec9e991e"}, {"label": "subtasks", "start_step": 1830, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: retreat: Right hand moves slightly upward and rightward away from the wooden block rack while empty, after completing interaction with blocks on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward and leftward through the air toward the white hexagonal block on the dark gray table surface, fingers held slightly spread."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers around the block, and makes slight adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal block above the right section of the black table surface without moving."}, {"label": "goal", "start_step": 1916, "end_step": 2055, "id": "f25380f3-d946-4c27-8bf5-8992ab5a2cc8"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2047, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the rack, lowering it to fit securely onto the green base inside the slot."}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the rack base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: press: Right hand presses the raised purple top of the front-right white bottle on the wooden rack downward, pushing the top flush with adjacent white bottle caps."}, {"label": "goal", "start_step": 2056, "end_step": 2145, "id": "1a350ec2-ec46-4fbb-9927-1a102621c860"}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward and rightward with open fingers toward the green cube placed on the dark table surface, without contacting the cube."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the green cube on the table to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward, raising the cube slightly off the dark table surface."}, {"label": "goal", "start_step": 2146, "end_step": 2515, "id": "c7381f36-8ec7-458a-8c0f-7e6b7e5e7d03"}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the empty slot on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand adjusts the green block's position and orientation to align its central hole with the white post below, lowers the block to fit it onto the post to complete the assembly."}, {"label": "home", "start_step": 2559, "end_step": 2583, "id": "cyx4PRAK_pUY42D00uRY7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves from its initial upper right position downward toward the green hexagonal block in front-left of the wooden peg stand, with fingers held open."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the black table surface, adjusting finger positions to close around the block to form a grasp."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is completely off the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to move toward the wooden rack, positioning the nut directly above the leftmost purple post."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut, aligning the central hole of the nut with the leftmost purple post to fit the post into the hole."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal nut sleeved on the upper part of the purple post without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple post until the nut is stably supported by the green hexagonal block below."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface, moving it upward to the position above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 652, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden base holding bottles and purple posts, approaching the front white hexagonal nut on the black table surface with an open empty hand, not yet contacting the target."}, {"label": "subtasks", "start_step": 758, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden base holding bottles and purple posts, approaching the front white hexagonal nut on the black table surface with an open empty hand, not yet contacting the target."}, {"label": "subtasks", "start_step": 802, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand contacts the top of the front white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip, with observable small movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg on the wooden rack, moves the nut downward to fit onto the peg, and makes small positional adjustments during the alignment process."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to place it onto the purple vertical rod on the wooden assembly base, releasing the block once it is stably supported by the base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block resting on the black table surface, approaching the block without establishing grasping contact."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand fingers close around the green hexagonal block on the table, making slight finger adjustments to form stable contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand moves vertically upward with the gripped green hexagonal block, lifting the block completely free of the dark table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally across the workspace toward the purple pegs attached to the light wooden block base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand makes small positional and rotational adjustments to the green hexagonal block to align its central hole with the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand lowers the aligned green hexagonal block vertically down the purple peg until the block rests securely on the underlying stacked blocks, maintaining a grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted on the purple rod of the wooden assembly stand, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward empty from the assembly stand area toward the green hexagonal block placed on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers closing and making fine adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, and carries it upward toward the wooden peg assembly to position it directly above the purple peg."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand moves the white hexagonal block downward to align its central hole with the purple peg, fitting the block onto the top of the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand slides the white hexagonal block down along the purple peg, lowering it until it rests on the green supporting block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place_release: Right hand places the white cylindrical block with green base onto the wooden block base, releasing the grip as fingers open."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves empty toward the white hexagonal block placed on the right side of the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small grip adjustments to secure contact with the block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal piece off the table surface, moving it upward and left toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the purple vertical rod, adjusting orientation and vertical position to slide the piece down the rod into assembled position."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal piece resting on the purple rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: retreat: Right hand moves slightly upward and rightward away from the wooden block rack while empty, after completing interaction with blocks on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward and leftward through the air toward the white hexagonal block on the dark gray table surface, fingers held slightly spread."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers around the block, and makes slight adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal block above the right section of the black table surface without moving."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2047, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the rack, lowering it to fit securely onto the green base inside the slot."}, {"label": "subtasks", "start_step": 2048, "end_step": 2054, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the rack base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: press: Right hand presses the raised purple top of the front-right white bottle on the wooden rack downward, pushing the top flush with adjacent white bottle caps."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward and rightward with open fingers toward the green cube placed on the dark table surface, without contacting the cube."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the green cube on the table to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward, raising the cube slightly off the dark table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the empty slot on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand adjusts the green block's position and orientation to align its central hole with the white post below, lowers the block to fit it onto the post to complete the assembly."}], "episode_index": 47}
+{"source_uid": "9a80bb76d469dc75", "num_frames": 2825, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the wooden peg board."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "e886a304-76f1-48a4-b9a9-aa16de83a12e"}, {"label": "valid", "start_step": 0, "end_step": 2794, "id": "y9BKzFnSt6wpyuZygWsO6"}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the black table surface, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 126, "end_step": 275, "id": "64ef8f54-8d1c-417e-9cec-794e3e60a61b"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it upward and rightward to the top of the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring with the leftmost peg of the wooden rack, moving downward to fit the ring onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening and moving slightly upward."}, {"label": "goal", "start_step": 276, "end_step": 350, "id": "1b7e667b-899a-41cd-840a-378ef2f4de7c"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the black table surface."}, {"label": "goal", "start_step": 351, "end_step": 515, "id": "41b8272b-64ca-475e-8da6-f5e050718b85"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut upward and toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal nut while retreating upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the rightmost purple peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 516, "end_step": 605, "id": "14d96e25-c79b-4383-a6d5-61b5861af6f5"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward to approach the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the lower left area of the black table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the lower area of the black table, with fingers adjusting to form a stable grip while the nut stays on the table."}, {"label": "goal", "start_step": 606, "end_step": 765, "id": "bc2bffd2-8a5c-4561-aef9-12605ace57a2"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward to the position above the leftmost top purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 652, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal nut with the leftmost top purple peg of the wooden rack by moving downward along the peg, and opens fingers to separate from the nut at the end of the segment."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 766, "end_step": 825, "id": "f6249ed2-f994-473e-b4f3-4d3fc8aa497c"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table and adjusts the grip."}, {"label": "goal", "start_step": 826, "end_step": 990, "id": "e430a920-b624-4252-88ea-177ad9e1dd70"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward to above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 862, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward away from the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden rack to approach the green hexagonal block on the left side of the table."}, {"label": "goal", "start_step": 991, "end_step": 1055, "id": "1e735f5d-37f1-4f6a-b1f5-41728708bd1a"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1056, "end_step": 1285, "id": "5fc60b4a-59b7-4d4b-a51f-d6751609821d"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden rack by aligning and inserting it down onto the peg with slight adjustments."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the peg of the wooden rack and releases it."}, {"label": "goal", "start_step": 1286, "end_step": 1375, "id": "20c44d02-84a8-4723-9f94-77577a9bfcab"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1376, "end_step": 1470, "id": "ceca8a54-f44b-453c-bd7d-de58aecb9316"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block from the table and transports it toward the wooden rack in the middle of the table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated hexagonal block with the green peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white perforated hexagonal block on the green peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack, with fingers opening from closed state."}, {"label": "goal", "start_step": 1471, "end_step": 1550, "id": "8ad59ca1-cc93-44df-a5e3-30516696b67c"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface with empty hand."}, {"label": "subtasks", "start_step": 1515, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1551, "end_step": 2245, "id": "942ecf79-d329-4e5e-b942-a55cbf2cf12e"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece with the purple rod on the wooden base before releasing it, causing the piece to fall onto the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal piece that fell on the right side of the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the right side of the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it to the lower left area near the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal piece onto the table surface near the lower left of the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal piece near the green block on the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece near the green block on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece fitted on the purple rod."}, {"label": "goal", "start_step": 2246, "end_step": 2325, "id": "ad254f85-3488-4435-baab-ddb23a4f67ae"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the wooden rack area."}, {"label": "subtasks", "start_step": 2288, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white square block from the black table surface."}, {"label": "goal", "start_step": 2326, "end_step": 2480, "id": "5e90bc7e-0c48-4d9c-ac99-6e8b43967d70"}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white square block upward and leftward to the position above the rightmost pillar of the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white square block with the rightmost pillar of the wooden rack by fitting the pillar into the block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white square block on the rightmost pillar of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white square block on the rightmost pillar, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:lift_plunger: Right hand lifts the purple plunger on the white cylinder at the rightmost bottom of the wooden rack."}, {"label": "goal", "start_step": 2481, "end_step": 2575, "id": "7f134104-b029-41de-b3e8-a6471fd7063e"}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2576, "end_step": 2755, "id": "150d0de8-deda-4b6d-ac2b-d1f38f77fa89"}, {"label": "subtasks", "start_step": 2595, "end_step": 2617, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the bottle set in the middle of the frame."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2759, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the rightmost white bottle without moving."}, {"label": "home", "start_step": 2795, "end_step": 2824, "id": "QsEWa_lbIRQHiz-_BQqFQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the wooden peg board."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the black table surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it upward and rightward to the top of the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring with the leftmost peg of the wooden rack, moving downward to fit the ring onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut upward and toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal nut while retreating upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the rightmost purple peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward to approach the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the lower left area of the black table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the lower area of the black table, with fingers adjusting to form a stable grip while the nut stays on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward to the position above the leftmost top purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 652, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal nut with the leftmost top purple peg of the wooden rack by moving downward along the peg, and opens fingers to separate from the nut at the end of the segment."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table and adjusts the grip."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward to above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 862, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward away from the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden rack to approach the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden rack by aligning and inserting it down onto the peg with slight adjustments."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the peg of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block from the table and transports it toward the wooden rack in the middle of the table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated hexagonal block with the green peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white perforated hexagonal block on the green peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack, with fingers opening from closed state."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface with empty hand."}, {"label": "subtasks", "start_step": 1515, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece with the purple rod on the wooden base before releasing it, causing the piece to fall onto the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal piece that fell on the right side of the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the right side of the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it to the lower left area near the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal piece onto the table surface near the lower left of the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal piece near the green block on the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece near the green block on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece fitted on the purple rod."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the wooden rack area."}, {"label": "subtasks", "start_step": 2288, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white square block from the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white square block upward and leftward to the position above the rightmost pillar of the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white square block with the rightmost pillar of the wooden rack by fitting the pillar into the block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white square block on the rightmost pillar of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white square block on the rightmost pillar, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:lift_plunger: Right hand lifts the purple plunger on the white cylinder at the rightmost bottom of the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2595, "end_step": 2617, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the bottle set in the middle of the frame."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2759, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the rightmost white bottle without moving."}], "episode_index": 48}
+{"source_uid": "b62d0530d5dd3ec8", "num_frames": 2325, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "3e375226-0eb9-4168-afd5-ab7d684902c2"}, {"label": "valid", "start_step": 0, "end_step": 2294, "id": "w-2k0TINnONiwo-FeshjJ"}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 126, "end_step": 255, "id": "25e92636-13e8-4581-9b0d-b5bd97d832b9"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod by aligning and inserting the rod through the block's hole."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reorient: Right hand rotates the wooden base with vertical posts about 90 degrees downward to lay it flat on the table."}, {"label": "goal", "start_step": 256, "end_step": 385, "id": "61167b41-e309-4c58-98c9-3b81ba1a3412"}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the black table."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white hexagonal hollow block."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 386, "end_step": 520, "id": "90514d1c-f94c-4583-bfe6-4ff1f02554f2"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the leftmost purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves downward away from the wooden assembly base to the area above the white hexagonal blocks, knocking over the assembled parts during movement."}, {"label": "goal", "start_step": 521, "end_step": 600, "id": "d142d7b5-ad85-49be-ba84-922c7e36b8a9"}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: idle: Right hand remains empty above the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 601, "end_step": 740, "id": "a0c0fa17-d50e-4948-991a-9d1c88b3eb72"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it down along the rod until it is fully seated."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple rod of the wooden base and releases the object."}, {"label": "goal", "start_step": 741, "end_step": 810, "id": "fe9347b3-292d-43d2-a253-4179ab754f65"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the table near the wooden base."}, {"label": "goal", "start_step": 811, "end_step": 950, "id": "a927c64a-13ad-425b-86ae-c884e61a8dd1"}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and moves it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the white hexagonal cylinder onto the purple post and releases its grip on the cylinder."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 951, "end_step": 1025, "id": "68985303-2257-4396-bf27-830698a2b715"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "goal", "start_step": 1026, "end_step": 1185, "id": "80142e2b-33f4-4935-bd32-be3ed3afd724"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and inserting it down along the rod."}, {"label": "goal", "start_step": 1186, "end_step": 1275, "id": "78250cea-1d9b-4a3f-8eb4-d317b66a74f6"}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1276, "end_step": 1410, "id": "123a3a64-8848-4e41-a3d8-e81867560afd"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal object with the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white hollow hexagonal object onto the target peg and releases the object."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down-right towards the white hexagonal block placed on the table next to the wooden base."}, {"label": "goal", "start_step": 1411, "end_step": 1500, "id": "0f9f8955-37cc-4946-b191-d3aa576ad6b7"}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1501, "end_step": 1775, "id": "f0956dc6-ef24-4052-8bbf-5715d31c3e2f"}, {"label": "subtasks", "start_step": 1538, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block down along the purple rod until it touches the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down firmly to secure it at the bottom of the purple rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the purple cylinder into the matching hole on the wooden base to complete assembly."}, {"label": "goal", "start_step": 1776, "end_step": 1915, "id": "11365477-ac3a-4a87-8ef7-7e3c74515bda"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1916, "end_step": 2050, "id": "764f57a7-1f62-4790-a9bd-70463a9d24bb"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden tray, fitting the ring over the rod."}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring, fingers open to separate from the ring."}, {"label": "goal", "start_step": 2051, "end_step": 2120, "id": "c2f2a7ec-4388-414e-bd51-28ac66db4d40"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 2121, "end_step": 2260, "id": "63dd86fd-b20a-411e-9ac2-ccfecf99fcac"}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and moves it towards the white post on the wooden tray."}, {"label": "subtasks", "start_step": 2160, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the green ring onto the target white post on the wooden tray and releases its grip on the ring."}, {"label": "home", "start_step": 2295, "end_step": 2324, "id": "h9LjCBDemQC-2e8WkTMmY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod by aligning and inserting the rod through the block's hole."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reorient: Right hand rotates the wooden base with vertical posts about 90 degrees downward to lay it flat on the table."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the black table."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white hexagonal hollow block."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the leftmost purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves downward away from the wooden assembly base to the area above the white hexagonal blocks, knocking over the assembled parts during movement."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: idle: Right hand remains empty above the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it down along the rod until it is fully seated."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple rod of the wooden base and releases the object."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the table near the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and moves it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the white hexagonal cylinder onto the purple post and releases its grip on the cylinder."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and inserting it down along the rod."}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal object with the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white hollow hexagonal object onto the target peg and releases the object."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down-right towards the white hexagonal block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block down along the purple rod until it touches the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down firmly to secure it at the bottom of the purple rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the purple cylinder into the matching hole on the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden tray, fitting the ring over the rod."}, {"label": "subtasks", "start_step": 2002, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring, fingers open to separate from the ring."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and moves it towards the white post on the wooden tray."}, {"label": "subtasks", "start_step": 2160, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the green ring onto the target white post on the wooden tray and releases its grip on the ring."}], "episode_index": 49}
+{"source_uid": "a17bf3a0020280bf", "num_frames": 2883, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal nut adjacent to the wooden block, with fingers extended in an open posture, not yet touching the target object."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "8bf0e139-6071-44a5-b398-dbcb08a6ce8a"}, {"label": "valid", "start_step": 0, "end_step": 2851, "id": "d-8KsYZyeVIXcNYvj4f-a"}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the black table surface, closes fingers around the object, and makes small positional adjustments of the fingers and wrist to form a secure grip."}, {"label": "goal", "start_step": 141, "end_step": 275, "id": "0d620b44-7abe-4d90-a9dc-51587a3db58f"}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it through the air to position it directly above the target purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the purple post, and fits the block onto the post."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table in front of the wooden assembly block."}, {"label": "goal", "start_step": 276, "end_step": 340, "id": "c916b6d3-fc16-42ab-8035-df27e30b6536"}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers and adjusts grip to securely hold the white hexagonal nut on the table."}, {"label": "goal", "start_step": 341, "end_step": 470, "id": "0983d277-ec35-474c-9d3f-946ab63121e5"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and leftward to position it above the target purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: press_release: Right hand presses the white cylindrical cap onto the purple peg of the wooden block stand, fingers opening to release the fully seated cap."}, {"label": "goal", "start_step": 471, "end_step": 555, "id": "c6ab5e85-0076-48cb-a9a4-38223b4bdfac"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward with an open empty hand to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a grip on the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 556, "end_step": 695, "id": "8b2f417b-2475-4fac-995e-43f613c37a6e"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object positioned on the wooden assembly base."}, {"label": "goal", "start_step": 696, "end_step": 775, "id": "b434282e-98ee-4a87-a8c9-d2c15fadbc18"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand, with fingers held open, moves downward from the assembly base toward the white hexagonal block resting on the table adjacent to the base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block which remains on the table surface."}, {"label": "goal", "start_step": 776, "end_step": 1190, "id": "d2797779-b073-4366-b6e1-cf07ce5404bd"}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and transports it upward to position directly above the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 840, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand makes small rotational and positional adjustments to the white hexagonal nut to align its central hole with the purple vertical peg, and lowers the nut slightly to engage it with the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod of the wooden stand, opens fingers to separate from the placed block."}, {"label": "goal", "start_step": 1191, "end_step": 1285, "id": "26e11512-dfcc-4b0f-b128-62a99a8b86d7"}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward with an empty hand to approach the front green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers to make contact with the front green hexagonal block, adjusting finger position to form a grasp."}, {"label": "goal", "start_step": 1286, "end_step": 1450, "id": "a3d26a37-f390-434b-8fb3-24b22a682963"}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the top of the purple rod, until the rod enters the block's hole."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple rod until the block is supported by the lower green block on the assembly base, opening its fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate_release: Right hand fits the white cylindrical block onto the corresponding purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1451, "end_step": 1525, "id": "1c5e2773-1d34-4c3d-94e8-94e313b9f707"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without any visible movement."}, {"label": "goal", "start_step": 1526, "end_step": 1645, "id": "825c1821-8994-4c70-a6bb-1742bd13e19b"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift: Right hand moves upward while holding the white hexagonal block, lifting the block completely off the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden block assembly stand in the center of the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical peg on the wooden stand, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand places the white cylindrical block onto the top right position of the block stack, opens fingers to release the block and separate from its surface."}, {"label": "goal", "start_step": 1646, "end_step": 1735, "id": "d2427a16-256e-484e-ad2e-e8ef5d61e6ab"}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal block on the table near the block stack, without touching the target block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block and closes fingers to establish a grasp around the block."}, {"label": "goal", "start_step": 1736, "end_step": 2290, "id": "d0a6495c-c3bc-4ac7-b11e-dc07dcf55810"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1792, "end_step": 2241, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusts the block vertically downward and makes small wrist and finger movements to nest the block securely onto the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers gradually to release the nested white hexagonal block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white cylindrical block with a purple ring above the purple rod on the wooden base, keeping still."}, {"label": "goal", "start_step": 2291, "end_step": 2405, "id": "71153bb4-8814-42c1-ab5b-670e8903a51b"}, {"label": "subtasks", "start_step": 2310, "end_step": 2317, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block with a purple ring, separating from the block which falls onto the wooden base."}, {"label": "subtasks", "start_step": 2318, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: return_home: Left hand moves leftward back to the home position in front of the robot, empty. | Right hand: release: Right hand opens fingers to release the white cylindrical block with a purple ring, separating from the block which falls onto the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: return_home: Left hand moves leftward back to the home position in front of the robot, empty. | Right hand: reach: Right hand moves downward-right toward the white hexagonal holed block on the black table surface, empty, approaching the target block."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: reach: Right hand moves downward-right toward the white hexagonal holed block on the black table surface, empty, approaching the target block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal holed block on the table, adjusting finger positions to form a grasp."}, {"label": "goal", "start_step": 2406, "end_step": 2575, "id": "204e9e2f-3346-48ab-be03-0b32b9269e0d"}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward off the black table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward through the air to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2557, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the white hexagonal nut to align its central hole with the purple peg, lowering the nut onto the peg to establish a secure assembled fit."}, {"label": "subtasks", "start_step": 2558, "end_step": 2564, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: idle: Right hand remains empty above the right side of the wooden block rack without obvious movement."}, {"label": "goal", "start_step": 2576, "end_step": 2655, "id": "fec0feb9-6e09-4f82-a128-21f1f8cf2537"}, {"label": "subtasks", "start_step": 2588, "end_step": 2639, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: reach: Right hand moves empty downward and rightward toward the small green cubic block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface, keeping fingers closed firmly around the block."}, {"label": "goal", "start_step": 2656, "end_step": 2810, "id": "da847420-4cf7-4524-9f43-6c696bd7a474"}, {"label": "subtasks", "start_step": 2678, "end_step": 2714, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: transport: Right hand transports the lifted green square block through the air toward the wooden block rack, positioning it directly above the target white cylindrical peg."}, {"label": "subtasks", "start_step": 2715, "end_step": 2819, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: place_release: Right hand lowers the green square block toward the target white cylindrical peg, makes small positional adjustments to align the block with the peg, sets the block stably onto the peg, fingers opening slightly to release grip on the block."}, {"label": "home", "start_step": 2852, "end_step": 2882, "id": "aYCUzabMmFdJpajYnd4_p"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal nut adjacent to the wooden block, with fingers extended in an open posture, not yet touching the target object."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the black table surface, closes fingers around the object, and makes small positional adjustments of the fingers and wrist to form a secure grip."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it through the air to position it directly above the target purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the purple post, and fits the block onto the post."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table in front of the wooden assembly block."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers and adjusts grip to securely hold the white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and leftward to position it above the target purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: press_release: Right hand presses the white cylindrical cap onto the purple peg of the wooden block stand, fingers opening to release the fully seated cap."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward with an open empty hand to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a grip on the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and toward the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object positioned on the wooden assembly base."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand, with fingers held open, moves downward from the assembly base toward the white hexagonal block resting on the table adjacent to the base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and transports it upward to position directly above the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 840, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand makes small rotational and positional adjustments to the white hexagonal nut to align its central hole with the purple vertical peg, and lowers the nut slightly to engage it with the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod of the wooden stand, opens fingers to separate from the placed block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward with an empty hand to approach the front green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers to make contact with the front green hexagonal block, adjusting finger position to form a grasp."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the top of the purple rod, until the rod enters the block's hole."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple rod until the block is supported by the lower green block on the assembly base, opening its fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate_release: Right hand fits the white cylindrical block onto the corresponding purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without any visible movement."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift: Right hand moves upward while holding the white hexagonal block, lifting the block completely off the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden block assembly stand in the center of the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical peg on the wooden stand, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand places the white cylindrical block onto the top right position of the block stack, opens fingers to release the block and separate from its surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal block on the table near the block stack, without touching the target block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block and closes fingers to establish a grasp around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1792, "end_step": 2241, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusts the block vertically downward and makes small wrist and finger movements to nest the block securely onto the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers gradually to release the nested white hexagonal block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white cylindrical block with a purple ring above the purple rod on the wooden base, keeping still."}, {"label": "subtasks", "start_step": 2310, "end_step": 2317, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block with a purple ring, separating from the block which falls onto the wooden base."}, {"label": "subtasks", "start_step": 2318, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: return_home: Left hand moves leftward back to the home position in front of the robot, empty. | Right hand: release: Right hand opens fingers to release the white cylindrical block with a purple ring, separating from the block which falls onto the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: return_home: Left hand moves leftward back to the home position in front of the robot, empty. | Right hand: reach: Right hand moves downward-right toward the white hexagonal holed block on the black table surface, empty, approaching the target block."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: reach: Right hand moves downward-right toward the white hexagonal holed block on the black table surface, empty, approaching the target block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal holed block on the table, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward off the black table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward through the air to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2557, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the white hexagonal nut to align its central hole with the purple peg, lowering the nut onto the peg to establish a secure assembled fit."}, {"label": "subtasks", "start_step": 2558, "end_step": 2564, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: idle: Right hand remains empty above the right side of the wooden block rack without obvious movement."}, {"label": "subtasks", "start_step": 2588, "end_step": 2639, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: reach: Right hand moves empty downward and rightward toward the small green cubic block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface, keeping fingers closed firmly around the block."}, {"label": "subtasks", "start_step": 2678, "end_step": 2714, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: transport: Right hand transports the lifted green square block through the air toward the wooden block rack, positioning it directly above the target white cylindrical peg."}, {"label": "subtasks", "start_step": 2715, "end_step": 2819, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: place_release: Right hand lowers the green square block toward the target white cylindrical peg, makes small positional adjustments to align the block with the peg, sets the block stably onto the peg, fingers opening slightly to release grip on the block."}], "episode_index": 50}
+{"source_uid": "7172afecf5f23189", "num_frames": 2797, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table without touching any object. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture at the right side of the table without touching any object."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "7b54bd2b-c5a5-436d-8703-2a02be53163c"}, {"label": "valid", "start_step": 0, "end_step": 2769, "id": "_6fmuEjYBare2-n1zSwAj"}, {"label": "subtasks", "start_step": 38, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table without touching any object. | Right hand: reach: Right hand moves left towards the green hexagonal part on the table near the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves left towards the green hexagonal part on the table near the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal part on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal part up from the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the green hexagonal part upward and toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal part with the leftmost purple peg on the wooden base to assemble it."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 141, "end_step": 285, "id": "52ba6c08-a886-46ed-b345-2d32f500ac3b"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden pegboard, aligning the block's hole with the peg and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the leftmost peg until the block reaches the base of the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 286, "end_step": 360, "id": "4bf0375b-d2ac-4f4e-a73c-a0cc41556096"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward and leftward."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black workbench surface."}, {"label": "goal", "start_step": 361, "end_step": 495, "id": "d5e3b68f-7f3e-4924-8ec6-3ebd628f9045"}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut upward and leftward to the top of the leftmost purple peg on the green pegboard."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "goal", "start_step": 496, "end_step": 570, "id": "6eaf14a7-c37d-4f6f-a41f-b040295a7b58"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the leftmost peg while moving downward toward the white hexagonal block on the front area of the black table."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left area of the black table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the black table surface."}, {"label": "goal", "start_step": 571, "end_step": 685, "id": "3ad774bc-77cd-4c70-badf-d36c60145f37"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the white hexagonal piece through the air towards the leftmost top purple peg of the wooden stand."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the white hexagonal piece onto the leftmost top purple peg of the wooden stand until it is supported."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost top purple peg of the wooden stand without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the left purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 686, "end_step": 750, "id": "ae01401f-12ac-44c7-8efc-dc85fd319d75"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the black table near the wooden base, approaching the block without contact."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 751, "end_step": 890, "id": "655ede4d-936f-4d8e-b2a0-93392729e631"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table surface and transports it to the position above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg, moving the ring downward along the peg until it reaches the green base below."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white ring on the purple peg of the wooden rack without moving."}, {"label": "goal", "start_step": 891, "end_step": 965, "id": "3acfe99e-7460-4c36-96cd-84fe26cb3f3f"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the purple peg and moves downward toward the green hex block on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hex block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 966, "end_step": 1125, "id": "528c6406-1865-4eba-9522-85b8f94cb832"}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden rack peg without moving."}, {"label": "goal", "start_step": 1126, "end_step": 1195, "id": "74eb8413-a33a-4016-8ed4-3d385b3a214c"}, {"label": "subtasks", "start_step": 1140, "end_step": 1147, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hollow piece on the right peg of the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1196, "end_step": 1325, "id": "eb77a477-627b-4b34-9955-fa4ed911ac88"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1297, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle peg of the wooden base and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost column of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1326, "end_step": 1395, "id": "25eef2ca-6d62-4fa2-b3b3-eb8a195bb584"}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1396, "end_step": 1560, "id": "fbccf70b-c26c-4de1-82f8-32b8c17421ea"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white block with a purple rod on the right side of the wooden rack, with fingers opening slightly."}, {"label": "goal", "start_step": 1561, "end_step": 1635, "id": "46da558b-5766-4ebe-83fd-3373cc78e4b6"}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping empty."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing gradually to adjust the grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal holed part from the lower right area of the table toward the central pegboard."}, {"label": "goal", "start_step": 1636, "end_step": 2225, "id": "ce981407-e4ad-4975-b685-a83a8e192bcf"}, {"label": "subtasks", "start_step": 1688, "end_step": 1747, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal holed part onto the middle peg of the rightmost column of the pegboard."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the middle peg of the rightmost column without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the middle peg of the rightmost column."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part downward to the area above the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the bottom purple peg of the rightmost column, making fine position adjustments."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward to reposition above the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 2048, "end_step": 2219, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal part fully onto the bottom purple peg of the rightmost column and releases its grip from the part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the purple component on the top of the rightmost white bottle of the wooden base."}, {"label": "goal", "start_step": 2226, "end_step": 2290, "id": "30481ebf-22e8-47d3-8538-6505cfe21474"}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down-right towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green square block with fingers closing around it."}, {"label": "goal", "start_step": 2291, "end_step": 2730, "id": "976c3e78-9e23-4323-8d04-5ff1e716965d"}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it upward-left to the top of the rightmost white bottle with purple component."}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple component and fits it onto the rightmost white bottle."}, {"label": "subtasks", "start_step": 2445, "end_step": 2729, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green square block on the rightmost white bottle without moving."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}, {"label": "home", "start_step": 2770, "end_step": 2796, "id": "K9eWgW71En5lgJ47Z_qV6"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table without touching any object. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture at the right side of the table without touching any object."}, {"label": "subtasks", "start_step": 38, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table without touching any object. | Right hand: reach: Right hand moves left towards the green hexagonal part on the table near the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves left towards the green hexagonal part on the table near the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal part on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal part up from the table surface."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the green hexagonal part upward and toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal part with the leftmost purple peg on the wooden base to assemble it."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden pegboard, aligning the block's hole with the peg and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the leftmost peg until the block reaches the base of the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward and leftward."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black workbench surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut upward and leftward to the top of the leftmost purple peg on the green pegboard."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the leftmost peg while moving downward toward the white hexagonal block on the front area of the black table."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left area of the black table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the white hexagonal piece through the air towards the leftmost top purple peg of the wooden stand."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the white hexagonal piece onto the leftmost top purple peg of the wooden stand until it is supported."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost top purple peg of the wooden stand without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the left purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the black table near the wooden base, approaching the block without contact."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table surface and transports it to the position above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg, moving the ring downward along the peg until it reaches the green base below."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white ring on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the purple peg and moves downward toward the green hex block on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hex block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden rack peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1147, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hollow piece on the right peg of the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1297, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle peg of the wooden base and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost column of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white block with a purple rod on the right side of the wooden rack, with fingers opening slightly."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping empty."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing gradually to adjust the grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal holed part from the lower right area of the table toward the central pegboard."}, {"label": "subtasks", "start_step": 1688, "end_step": 1747, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal holed part onto the middle peg of the rightmost column of the pegboard."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the middle peg of the rightmost column without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the middle peg of the rightmost column."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part downward to the area above the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the bottom purple peg of the rightmost column, making fine position adjustments."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward to reposition above the bottom purple peg of the rightmost column."}, {"label": "subtasks", "start_step": 2048, "end_step": 2219, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal part fully onto the bottom purple peg of the rightmost column and releases its grip from the part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the purple component on the top of the rightmost white bottle of the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down-right towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green square block with fingers closing around it."}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it upward-left to the top of the rightmost white bottle with purple component."}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple component and fits it onto the rightmost white bottle."}, {"label": "subtasks", "start_step": 2445, "end_step": 2729, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green square block on the rightmost white bottle without moving."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}], "episode_index": 51}
+{"source_uid": "9586da240844950d", "num_frames": 2123, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its pose with slight wrist and finger movement, without touching any operating object. | Right hand: reach: Right hand moves towards the green block placed on the table near the wooden base with purple rods."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "04a46165-dabe-42ad-b5e3-61421886cf53"}, {"label": "valid", "start_step": 0, "end_step": 2093, "id": "fnkmY3mDtIdXody5spsXf"}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block placed on the table near the wooden base with purple rods."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the green block, fingers adjust to form a grip on the green block."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 136, "end_step": 270, "id": "46b0eb02-eb9e-4831-8dd6-bb2bc2fd3032"}, {"label": "subtasks", "start_step": 172, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod by aligning and pressing it down to fit the rod."}, {"label": "goal", "start_step": 271, "end_step": 345, "id": "dc83ffce-c0e0-42ad-abfa-fea0f476a5ad"}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black tabletop with fingers open."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black tabletop."}, {"label": "goal", "start_step": 346, "end_step": 465, "id": "eb36aa6c-f4fe-4e3b-b002-4d55279c8dd8"}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the leftmost purple rod until it is supported by the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block."}, {"label": "goal", "start_step": 466, "end_step": 555, "id": "ea9b227a-18fc-4c3a-b3d3-7984332998eb"}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, with slight grip adjustment movements."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 556, "end_step": 680, "id": "495b306c-f96f-4a51-b3d8-5ab85554cf37"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the top-left test tube on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top-left test tube of the wooden rack by fitting it over the tube."}, {"label": "goal", "start_step": 681, "end_step": 755, "id": "893c660d-aaf7-4fc3-8c8d-a02682716862"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 756, "end_step": 895, "id": "2d4ec32f-b66b-4c8e-a7da-ad90a246d275"}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 896, "end_step": 990, "id": "8fd7ec69-c9ea-47a4-b326-2e83e8495c28"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical sleeve onto the post on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes fingers to grasp the green block and lifts it upward away from the table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, fingers close to secure the block."}, {"label": "goal", "start_step": 991, "end_step": 1135, "id": "440da509-cfef-4b79-b9c0-f81eb6ca7a5e"}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white cylinder on the wooden rack and mates it onto the cylinder."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1136, "end_step": 1200, "id": "3bd2ecf6-36f0-4575-8a11-559459b12b7f"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1201, "end_step": 1340, "id": "b8ef1106-a3c3-4bb8-98ca-a1549abd1c14"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1238, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the wooden base."}, {"label": "goal", "start_step": 1341, "end_step": 1395, "id": "e32ef2e4-54b4-41af-b17d-6659bc540ecc"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1396, "end_step": 1565, "id": "ddd581e5-0e45-4b89-84bb-1efd9252945e"}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the target column on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the target column on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the target column without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the target column."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1566, "end_step": 1630, "id": "23b590be-eea9-4809-b6a9-8000a6ebc686"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1631, "end_step": 1840, "id": "bdc343cb-1add-444b-ad1a-cf9440c6dffa"}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal block down onto the purple rod, then releases the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the empty slot of the wooden tray."}, {"label": "goal", "start_step": 1841, "end_step": 1910, "id": "1d5095f3-148a-4ceb-83d0-8455fe37f1d7"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block on the lower right area of the tabletop."}, {"label": "subtasks", "start_step": 1898, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1911, "end_step": 2050, "id": "dea62d3b-8124-43d0-a9db-4940a0d3e2f8"}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white bottle rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target white bottle with purple top on the rack."}, {"label": "home", "start_step": 2094, "end_step": 2122, "id": "FLS1zsT7MdnfjLY5ZX3lF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its pose with slight wrist and finger movement, without touching any operating object. | Right hand: reach: Right hand moves towards the green block placed on the table near the wooden base with purple rods."}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block placed on the table near the wooden base with purple rods."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the green block, fingers adjust to form a grip on the green block."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod by aligning and pressing it down to fit the rod."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black tabletop with fingers open."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the leftmost purple rod until it is supported by the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, with slight grip adjustment movements."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the top-left test tube on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top-left test tube of the wooden rack by fitting it over the tube."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical sleeve onto the post on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes fingers to grasp the green block and lifts it upward away from the table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, fingers close to secure the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white cylinder on the wooden rack and mates it onto the cylinder."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1238, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the target column on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the target column on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the target column without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the target column."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal block down onto the purple rod, then releases the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the empty slot of the wooden tray."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block on the lower right area of the tabletop."}, {"label": "subtasks", "start_step": 1898, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white bottle rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target white bottle with purple top on the rack."}], "episode_index": 52}
+{"source_uid": "b36a30e7f1728b45", "num_frames": 2803, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "f7b8f210-7b84-44e9-8168-81dbf8e4b95f"}, {"label": "valid", "start_step": 0, "end_step": 2770, "id": "xSeNzW23gcD8Lfra9yjw6"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand positions adjacent to the left green hexagonal block, fingers closing to contact the block and adjusting grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 146, "end_step": 290, "id": "889fe7f0-f013-4cbd-a611-fbb447f287eb"}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above a purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit it securely onto the post for assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand maintains a partially open finger posture as it moves downward from the area next to the wooden peg assembly toward the white hexagonal nut on the black table surface, and does not touch the nut during this movement."}, {"label": "goal", "start_step": 291, "end_step": 360, "id": "a0dd723d-aa87-4001-a913-86eac6c72ff5"}, {"label": "subtasks", "start_step": 322, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the black table surface, making small positional adjustments to its fingers to form a grip, while the nut stays in contact with the table surface."}, {"label": "goal", "start_step": 361, "end_step": 645, "id": "56d6dfc6-4992-41bd-b28d-105378bec9cc"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple assembly post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple assembly post, making small positional adjustments while lowering the nut to fit it onto the post until it is fully seated."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the fully seated white hexagonal nut on the purple assembly post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand places the white hexagonal component onto the purple peg on the wooden assembly base and releases the component."}, {"label": "goal", "start_step": 646, "end_step": 720, "id": "db4421f1-f63b-408b-8351-59203408b000"}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around the target white hexagonal nut on the table to establish a grasp."}, {"label": "goal", "start_step": 721, "end_step": 925, "id": "dd3b0c25-0d39-4156-9e35-5149e842e095"}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table while moving it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 914, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligning its central hole with the purple rod for assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: press: Right hand presses the white hexagonal cap on the purple post of the wooden base downward along the vertical axis of the post until the cap sits flush with adjacent caps."}, {"label": "goal", "start_step": 926, "end_step": 1020, "id": "ce14f348-3ba7-45b2-93fc-1e62cb188390"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and forward away from the wooden base, approaching the white hexagonal block resting on the table surface without making contact."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the table, closing fingers to make contact and adjust grip on the block, which remains supported by the table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1200, "id": "02370cb7-f5ca-4368-bb28-582c41cfb957"}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to a position above the target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate_place: Right hand fits the white hexagonal nut onto the top of the purple rod and slides it downward along the rod until it rests stably on the lower white nut at the target assembly position."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block assembly toward the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1201, "end_step": 1270, "id": "62ef75c9-4fb3-4899-b6d6-2e68aa21e002"}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains supported by the table."}, {"label": "goal", "start_step": 1271, "end_step": 1395, "id": "1d8d7dba-f3a5-49d1-96a2-76b3ea6e05b1"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, then lowers the block to fit it onto the rod until it rests stably on the white block beneath."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the fitted green hexagonal block without movement, as the block remains stably positioned on the purple rod and supported by the white block below."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black table surface in front of the wooden block base."}, {"label": "goal", "start_step": 1396, "end_step": 1450, "id": "93ab630d-df6b-484d-b3ec-758273df82b6"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact positions to form a stable grasp on the nut."}, {"label": "goal", "start_step": 1451, "end_step": 2020, "id": "aebc5183-9dc1-4efe-85b3-9aca9c45d51f"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple vertical rod, lowering it slightly toward the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple vertical rod without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1778, "end_step": 2009, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand readjusts the position and orientation of the white hexagonal nut to align with the purple vertical rod, continuing to position the nut over the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward toward the nearest white hexagonal nut on the table surface, staying empty before making contact with the nut."}, {"label": "goal", "start_step": 2021, "end_step": 2115, "id": "04900912-5172-4b72-8b14-9928021d8128"}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, gradually closing fingers and adjusting contact positions to form a grip, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand firmly grips the white hexagonal nut with a central hole and moves it upward and left toward the purple slender rod leaning against the right side of the stacked hexagonal block assembly on the wooden base."}, {"label": "goal", "start_step": 2116, "end_step": 2270, "id": "8417d482-3300-4b3e-b89c-c19f917c29e4"}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the held white hexagonal nut to align its central hole with the upper end of the purple slender rod, fitting the rod into the nut's hole."}, {"label": "subtasks", "start_step": 2175, "end_step": 2264, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod, guiding the rod to a vertical position and inserting the lower end of the rod into the empty hole on the front of the wooden base, until the nut rests stably on the vertical rod above the base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal nut on the purple vertical rod, breaking contact between the hand and the nut."}, {"label": "goal", "start_step": 2271, "end_step": 2345, "id": "c7ee55f4-de6a-4c59-80da-301a21e43da0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2310, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: retreat: Left hand moves slightly upward away from the wooden block holder, with fingers remaining extended. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: hold: Right hand holds the white hexagonal block steadily on the black table surface without observable movement."}, {"label": "goal", "start_step": 2346, "end_step": 2505, "id": "88a118f6-1358-47f6-a80d-49c4f7786570"}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward and leftward to the position above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2489, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: place: Right hand lowers the aligned white hexagonal block down along the purple peg until the block rests stably on the wooden rack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that rests on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: retreat: Right hand moves rightward away from the placed white hexagonal block with an empty hand."}, {"label": "goal", "start_step": 2506, "end_step": 2565, "id": "9f41f8a3-df23-4fee-a172-7b2dac2424ba"}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: reach: Right hand moves empty from the area adjacent to the bottle rack downward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grip, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 2566, "end_step": 2725, "id": "28efd8a1-fdf2-4adc-bbdf-2b657a3d9c7a"}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table surface, transports the cube upward and leftward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2625, "end_step": 2714, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: mate: Right hand aligns the green cube with the top of the rightmost white bottle, adjusts its position to nest the cube onto the bottle top for assembly."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: release: Right hand opens its fingers to release the green cube, separating from the cube that stays stably on the bottle top."}, {"label": "home", "start_step": 2771, "end_step": 2802, "id": "Qvnqdn1-yJyZGQcA1fDox"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand positions adjacent to the left green hexagonal block, fingers closing to contact the block and adjusting grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above a purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit it securely onto the post for assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand maintains a partially open finger posture as it moves downward from the area next to the wooden peg assembly toward the white hexagonal nut on the black table surface, and does not touch the nut during this movement."}, {"label": "subtasks", "start_step": 322, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the black table surface, making small positional adjustments to its fingers to form a grip, while the nut stays in contact with the table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple assembly post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple assembly post, making small positional adjustments while lowering the nut to fit it onto the post until it is fully seated."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the fully seated white hexagonal nut on the purple assembly post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand places the white hexagonal component onto the purple peg on the wooden assembly base and releases the component."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around the target white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table while moving it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 914, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligning its central hole with the purple rod for assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: press: Right hand presses the white hexagonal cap on the purple post of the wooden base downward along the vertical axis of the post until the cap sits flush with adjacent caps."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and forward away from the wooden base, approaching the white hexagonal block resting on the table surface without making contact."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the table, closing fingers to make contact and adjust grip on the block, which remains supported by the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to a position above the target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1184, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate_place: Right hand fits the white hexagonal nut onto the top of the purple rod and slides it downward along the rod until it rests stably on the lower white nut at the target assembly position."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block assembly toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, then lowers the block to fit it onto the rod until it rests stably on the white block beneath."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the fitted green hexagonal block without movement, as the block remains stably positioned on the purple rod and supported by the white block below."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black table surface in front of the wooden block base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact positions to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple vertical rod, lowering it slightly toward the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1777, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple vertical rod without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1778, "end_step": 2009, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand readjusts the position and orientation of the white hexagonal nut to align with the purple vertical rod, continuing to position the nut over the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward toward the nearest white hexagonal nut on the table surface, staying empty before making contact with the nut."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, gradually closing fingers and adjusting contact positions to form a grip, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand firmly grips the white hexagonal nut with a central hole and moves it upward and left toward the purple slender rod leaning against the right side of the stacked hexagonal block assembly on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the held white hexagonal nut to align its central hole with the upper end of the purple slender rod, fitting the rod into the nut's hole."}, {"label": "subtasks", "start_step": 2175, "end_step": 2264, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod, guiding the rod to a vertical position and inserting the lower end of the rod into the empty hole on the front of the wooden base, until the nut rests stably on the vertical rod above the base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal nut on the purple vertical rod, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface, with fingers held open."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2310, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: retreat: Left hand moves slightly upward away from the wooden block holder, with fingers remaining extended. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: hold: Right hand holds the white hexagonal block steadily on the black table surface without observable movement."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward and leftward to the position above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2489, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: place: Right hand lowers the aligned white hexagonal block down along the purple peg until the block rests stably on the wooden rack."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that rests on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: retreat: Right hand moves rightward away from the placed white hexagonal block with an empty hand."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: reach: Right hand moves empty from the area adjacent to the bottle rack downward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grip, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table surface, transports the cube upward and leftward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2625, "end_step": 2714, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: mate: Right hand aligns the green cube with the top of the rightmost white bottle, adjusts its position to nest the cube onto the bottle top for assembly."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: release: Right hand opens its fingers to release the green cube, separating from the cube that stays stably on the bottle top."}], "episode_index": 53}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/episodes.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4fe59af170dd1bd27343933e0ecc540c6241a9e2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,54 @@
+{"episode_index": 0, "tasks": ["Task: TicTacToe"], "length": 2804}
+{"episode_index": 1, "tasks": ["Task: TicTacToe"], "length": 2542}
+{"episode_index": 2, "tasks": ["Task: TicTacToe"], "length": 2531}
+{"episode_index": 3, "tasks": ["Task: TicTacToe"], "length": 2493}
+{"episode_index": 4, "tasks": ["Task: TicTacToe"], "length": 2453}
+{"episode_index": 5, "tasks": ["Task: TicTacToe"], "length": 2322}
+{"episode_index": 6, "tasks": ["Task: TicTacToe"], "length": 2455}
+{"episode_index": 7, "tasks": ["Task: TicTacToe"], "length": 3135}
+{"episode_index": 8, "tasks": ["Task: TicTacToe"], "length": 2437}
+{"episode_index": 9, "tasks": ["Task: TicTacToe"], "length": 2684}
+{"episode_index": 10, "tasks": ["Task: TicTacToe"], "length": 2470}
+{"episode_index": 11, "tasks": ["Task: TicTacToe"], "length": 2534}
+{"episode_index": 12, "tasks": ["Task: TicTacToe"], "length": 2959}
+{"episode_index": 13, "tasks": ["Task: TicTacToe"], "length": 2946}
+{"episode_index": 14, "tasks": ["Task: TicTacToe"], "length": 2819}
+{"episode_index": 15, "tasks": ["Task: TicTacToe"], "length": 3093}
+{"episode_index": 16, "tasks": ["Task: TicTacToe"], "length": 2812}
+{"episode_index": 17, "tasks": ["Task: TicTacToe"], "length": 3153}
+{"episode_index": 18, "tasks": ["Task: TicTacToe"], "length": 2467}
+{"episode_index": 19, "tasks": ["Task: TicTacToe"], "length": 2406}
+{"episode_index": 20, "tasks": ["Task: TicTacToe"], "length": 2824}
+{"episode_index": 21, "tasks": ["Task: TicTacToe"], "length": 2979}
+{"episode_index": 22, "tasks": ["Task: TicTacToe"], "length": 2723}
+{"episode_index": 23, "tasks": ["Task: TicTacToe"], "length": 2978}
+{"episode_index": 24, "tasks": ["Task: TicTacToe"], "length": 2927}
+{"episode_index": 25, "tasks": ["Task: TicTacToe"], "length": 2439}
+{"episode_index": 26, "tasks": ["Task: TicTacToe"], "length": 2721}
+{"episode_index": 27, "tasks": ["Task: TicTacToe"], "length": 2193}
+{"episode_index": 28, "tasks": ["Task: TicTacToe"], "length": 2369}
+{"episode_index": 29, "tasks": ["Task: TicTacToe"], "length": 2152}
+{"episode_index": 30, "tasks": ["Task: TicTacToe"], "length": 2247}
+{"episode_index": 31, "tasks": ["Task: TicTacToe"], "length": 2747}
+{"episode_index": 32, "tasks": ["Task: TicTacToe"], "length": 2324}
+{"episode_index": 33, "tasks": ["Task: TicTacToe"], "length": 2493}
+{"episode_index": 34, "tasks": ["Task: TicTacToe"], "length": 2238}
+{"episode_index": 35, "tasks": ["Task: TicTacToe"], "length": 2497}
+{"episode_index": 36, "tasks": ["Task: TicTacToe"], "length": 2392}
+{"episode_index": 37, "tasks": ["Task: TicTacToe"], "length": 2637}
+{"episode_index": 38, "tasks": ["Task: TicTacToe"], "length": 2282}
+{"episode_index": 39, "tasks": ["Task: TicTacToe"], "length": 2279}
+{"episode_index": 40, "tasks": ["Task: TicTacToe"], "length": 2538}
+{"episode_index": 41, "tasks": ["Task: TicTacToe"], "length": 2679}
+{"episode_index": 42, "tasks": ["Task: TicTacToe"], "length": 2668}
+{"episode_index": 43, "tasks": ["Task: TicTacToe"], "length": 2768}
+{"episode_index": 44, "tasks": ["Task: TicTacToe"], "length": 2473}
+{"episode_index": 45, "tasks": ["Task: TicTacToe"], "length": 2763}
+{"episode_index": 46, "tasks": ["Task: TicTacToe"], "length": 2430}
+{"episode_index": 47, "tasks": ["Task: TicTacToe"], "length": 2584}
+{"episode_index": 48, "tasks": ["Task: TicTacToe"], "length": 2825}
+{"episode_index": 49, "tasks": ["Task: TicTacToe"], "length": 2325}
+{"episode_index": 50, "tasks": ["Task: TicTacToe"], "length": 2883}
+{"episode_index": 51, "tasks": ["Task: TicTacToe"], "length": 2797}
+{"episode_index": 52, "tasks": ["Task: TicTacToe"], "length": 2123}
+{"episode_index": 53, "tasks": ["Task: TicTacToe"], "length": 2803}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/episodes_stats.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..849834bb9f2de3df13eba250c6c9c6c0af39eac0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,54 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [1.0499677658081055, -0.9521992206573486, -0.2243490070104599, 1.1807613372802734, -0.20742906630039215, -0.7700250744819641, 0.301307737827301, 0.00689571863040328, -0.00024246850807685405, -0.27849164605140686, 0.00015322772378567606, 0.0035208093468099833, 0.0036353108007460833, -0.09337370097637177, 0.00352896424010396, 0.0008305310620926321, 0.00013271502393763512, -0.09347525238990784, 0.006844836287200451, 0.0008309744880534708, -0.0031562121585011482, -0.02690630592405796, 0.0026606398168951273, 0.0008145678439177573, 0.005491957534104586, -0.002706061117351055, -0.015203838236629963, 0.002324159722775221, 0.000848267984110862, 0.9967097640037537, -1.116701602935791, -0.24256622791290283, 1.0266950130462646, -1.7679091691970825, -0.7684553265571594, -0.5029639005661011, 0.005607853177934885, -0.13427481055259705, -0.29757919907569885, -0.13576354086399078, 0.0032644604798406363, 0.005339999217540026, -0.0895100012421608, 0.0034959898330271244, 0.0009604539372958243, 0.003513389965519309, -0.10741546750068665, 0.0034211771562695503, 0.0008615707047283649, -0.0014103114372119308, -0.13985681533813477, 0.003534991992637515, 0.0008544759475626051, 0.00635144766420126, -0.002021621912717819, -0.16058339178562164, 0.0031850384548306465, 0.0008597970008850098, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0011504855938255787, -9.58738019107841e-05, 9.58738019107841e-05, -0.7995874881744385], "max": [1.298654317855835, -0.6464720964431763, -6.8310082497191615e-06, 1.5700088739395142, 0.1849784255027771, 0.07595985382795334, 0.5941213965415955, 1.382256269454956, 0.29563435912132263, -0.0035130626056343317, 0.23854108154773712, 0.6271628737449646, 0.6616837978363037, 0.1124243289232254, 0.0533975251019001, 0.05007220059633255, 0.5846867561340332, 0.19464382529258728, 0.08818332850933075, 0.05498842895030975, 0.3488784730434418, 0.20952504873275757, 0.04090059921145439, 0.0363602340221405, 0.06989054381847382, 0.43854522705078125, 0.20513711869716644, 0.09063442051410675, 0.050087276846170425, 1.459957480430603, -0.2768710255622864, -0.002019941108301282, 1.8715399503707886, 0.27387645840644836, -0.009488270618021488, 0.6981461644172668, 1.3859728574752808, 0.28691965341567993, 0.3492968678474426, 0.28161171078681946, 0.7793458700180054, 1.0599864721298218, 0.09664152562618256, 0.6515131592750549, 0.23871804773807526, 1.3475877046585083, 0.22372111678123474, 1.42027747631073, 0.9428890943527222, 1.4667490720748901, 0.23916295170783997, 1.5762989521026611, 1.3081631660461426, 0.22644399106502533, 1.3364737033843994, 0.2414892464876175, 1.4015660285949707, 1.3081738948822021, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.00047936898772604764, 0.0, 0.10565292835235596, -0.6000741124153137], "mean": [1.2030770778656006, -0.7558422088623047, -0.22211357951164246, 1.3223317861557007, 0.029046759009361267, -0.11906834691762924, 0.3936893343925476, 1.329100251197815, 0.2800193130970001, -0.19302599132061005, 0.17952193319797516, 0.6037324070930481, 0.5984499454498291, 0.09044080972671509, 0.05020568147301674, 0.04715929180383682, 0.4865120053291321, 0.16764268279075623, 0.08229526877403259, 0.04909500852227211, 0.2777888774871826, 0.182027205824852, 0.03361337631940842, 0.02988758496940136, 0.05680936947464943, 0.3525436818599701, 0.18322956562042236, 0.057702019810676575, 0.04155408591032028, 1.2474302053451538, -0.6008296012878418, -0.2166309505701065, 1.3162472248077393, -1.32078218460083, -0.3019600808620453, -0.0743817612528801, 1.2410659790039062, 0.039428070187568665, 0.07036427408456802, 0.005344859324395657, 0.19004303216934204, 0.758512556552887, 0.05305493623018265, 0.35042527318000793, 0.14046169817447662, 1.1881121397018433, -0.04542074725031853, 1.333498239517212, 0.7770607471466064, 1.3450909852981567, -0.08786674588918686, 1.4350395202636719, 1.0077110528945923, 0.02882339619100094, 1.2014158964157104, -0.10527461022138596, 0.9294482469558716, 1.2478814125061035, 0.5627022385597229, -1.106865406036377, 0.5440754294395447, -0.0007101212977431715, -2.7353436848898127e-07, 0.075055792927742, -0.753616988658905], "std": [0.0678577721118927, 0.06622369587421417, 0.018307186663150787, 0.10631870478391647, 0.049072545021772385, 0.17218561470508575, 0.05889741703867912, 0.12059707194566727, 0.026112644001841545, 0.0537959523499012, 0.02989223599433899, 0.05902428552508354, 0.0946827381849289, 0.028235847130417824, 0.007295766845345497, 0.006199436262249947, 0.13448339700698853, 0.03828395530581474, 0.01363549567759037, 0.00920910481363535, 0.12176836282014847, 0.0398736335337162, 0.013746308162808418, 0.011754649691283703, 0.013484164141118526, 0.147958904504776, 0.029522107914090157, 0.023667143657803535, 0.016074076294898987, 0.11553072929382324, 0.17382964491844177, 0.020694760605692863, 0.21489909291267395, 0.34186768531799316, 0.12422521412372589, 0.22231516242027283, 0.13347169756889343, 0.07363471388816833, 0.15422207117080688, 0.06397759914398193, 0.15917764604091644, 0.1537656933069229, 0.027606239542365074, 0.1545303910970688, 0.06050439178943634, 0.21056553721427917, 0.03569933772087097, 0.2760449945926666, 0.16660088300704956, 0.26853612065315247, 0.04650935158133507, 0.304168164730072, 0.2504773437976837, 0.01913578249514103, 0.2463625818490982, 0.04987906292080879, 0.21727514266967773, 0.2659367024898529, 3.637347981566563e-05, 3.6657980672316626e-05, 6.123587809270248e-05, 0.0002161814772989601, 5.113986844662577e-06, 0.01763780228793621, 0.038519568741321564], "count": [2804]}, "observation.state.joint_torque": {"min": [-31.4325008392334, -7.557000160217285, -15.980999946594238, -6.6570000648498535, -0.47279998660087585, -0.8999999761581421, 1.229599952697754, -0.9080251455307007, -0.3438524305820465, -0.5318710803985596, -0.4013887345790863, -0.09297433495521545, -0.47493478655815125, -0.800193190574646, -0.09463459998369217, -0.04066966846585274, -0.43655622005462646, -0.3645963966846466, -0.13448072969913483, -0.03424813970923424, -0.39625874161720276, -0.4240832030773163, -0.09463459998369217, -0.03638865053653717, -0.1103900820016861, -0.39433979988098145, -0.5209890604019165, -0.16270509362220764, -0.03424813970923424, 12.262499809265137, -4.452000141143799, 0.20900000631809235, -7.745999813079834, -2.007999897003174, -2.7808001041412354, -2.959199905395508, -1.2862626314163208, -0.7704840898513794, -0.6611108779907227, -1.3557742834091187, -0.15772433578968048, -1.358601450920105, -0.9968833327293396, -0.28888458013534546, -0.05708024278283119, -0.7762065529823303, -0.5603271126747131, -0.5047178864479065, -0.11059295386075974, -1.0486944913864136, -0.3809072971343994, -0.6641023755073547, -0.14912211894989014, -0.14205574989318848, -0.8654367327690125, -0.4806915819644928, -0.4316665828227997, -0.0642152652144432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.93600082397461, 9.118499755859375, -11.557000160217285, 3.13100004196167, 1.451200008392334, 1.1792000532150269, 2.4528000354766846, 0.2941848635673523, 0.2572525441646576, 0.48837700486183167, 0.30321624875068665, 0.0979551151394844, 0.37994781136512756, 0.2983933687210083, 0.08135254681110382, 0.015697065740823746, 0.3809072971343994, 0.2600148022174835, 0.12617947161197662, 0.014983562752604485, 0.4077723026275635, 0.3338935673236847, 0.12119869887828827, 0.016410568729043007, 0.06772936880588531, 0.1986090987920761, 0.33773139119148254, 0.10127562284469604, 0.014270060695707798, 39.29100036621094, 8.427000045776367, 20.6200008392334, 2.177000045776367, 0.35120001435279846, 3.3255999088287354, 1.7791999578475952, 2.4349844455718994, 4.477722644805908, 1.9733909368515015, 1.2526311874389648, 0.6956473588943481, 2.1444027423858643, 0.445191353559494, 1.0559228658676147, 0.21333740651607513, 0.8174635767936707, 0.22643356025218964, 0.41838452219963074, 0.07705831527709961, 0.8606394529342651, 0.2676905691623688, 0.4764934778213501, 0.08133933693170547, 0.12358411401510239, 0.8088283538818359, 0.3857046365737915, 0.26232045888900757, 0.05422622710466385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.2283878326416, 2.198179244995117, -14.101052284240723, -1.974838376045227, -0.0023303062189370394, -0.168278306722641, 1.703861117362976, -0.0021160398609936237, -0.0023939977400004864, 0.026858793571591377, 0.007136176340281963, 0.0004896685131825507, 0.0048051998019218445, 0.002631701761856675, -2.486814082658384e-05, 3.0025839805603027e-05, -0.007227415218949318, 0.008093154989182949, 0.0011066407896578312, -4.911037831334397e-05, 0.01271499041467905, 0.012713568285107613, 0.00039434063364751637, -0.00011755991727113724, -0.0010507229017093778, 0.004484909120947123, 0.00414341501891613, -0.0005950627382844687, 2.3156242605182342e-05, 26.982519149780273, 0.7669022083282471, 12.582070350646973, -2.1620562076568604, -0.6165759563446045, 1.4101693630218506, -0.8953141570091248, 0.29074302315711975, 0.8324505686759949, 0.31037288904190063, 0.0797572135925293, 0.08096710592508316, 0.5627523064613342, -0.23526600003242493, 0.28130558133125305, 0.0727282464504242, -0.018761562183499336, -0.020495036616921425, 0.004286837298423052, -1.832156158343423e-05, 0.006206403020769358, 0.00255741854198277, -0.0013387460494413972, -0.0006045944755896926, -5.019142190576531e-05, -0.013866374269127846, 0.01303077582269907, -0.013826186768710613, 0.0035089694429188967, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6941814422607422, 0.8798478841781616, 0.7726570963859558, 0.6044209599494934, 0.28861913084983826, 0.35670602321624756, 0.179099440574646, 0.04720735177397728, 0.026583250612020493, 0.08228348940610886, 0.06166881322860718, 0.00794920977205038, 0.07237006723880768, 0.06867851316928864, 0.007092326879501343, 0.0038804374635219574, 0.06064775958657265, 0.04947306588292122, 0.01680508255958557, 0.003822008380666375, 0.0620635524392128, 0.0660613402724266, 0.008371210657060146, 0.0044409423135221004, 0.010005829855799675, 0.03198856860399246, 0.05048337206244469, 0.010024376213550568, 0.00427489448338747, 4.5561347007751465, 1.9618312120437622, 2.0534403324127197, 1.917000651359558, 0.3283642530441284, 0.7889187932014465, 0.5440635681152344, 0.6315381526947021, 1.10279381275177, 0.46216875314712524, 0.26730096340179443, 0.11755941063165665, 0.6765345931053162, 0.3345903158187866, 0.3434840142726898, 0.08167459815740585, 0.08148081600666046, 0.07951784878969193, 0.024099983274936676, 0.00926305539906025, 0.05603985860943794, 0.056012336164712906, 0.023468080908060074, 0.009822278283536434, 0.021828539669513702, 0.10472925007343292, 0.09661875665187836, 0.03547022119164467, 0.0054437825456261635, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2804]}, "observation.state.tcp": {"min": [0.36168378591537476, 0.1919877827167511, 0.971289873123169, -1.235021948814392, 1.21773362159729, -1.6212341785430908, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24123726785182953, -0.27958419919013977, 0.9639169573783875, -0.6655123829841614, 1.1686533689498901, 0.3069623112678528, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.415086954832077, 0.26720643043518066, 1.0905168056488037, -0.8090879917144775, 1.7662190198898315, -1.2289340496063232, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4720984697341919, -0.01819751411676407, 1.156879186630249, 1.2427525520324707, 1.9709328413009644, 1.6031359434127808, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39308133721351624, 0.2200384885072708, 1.0243586301803589, -1.1464898586273193, 1.6313008069992065, -1.5111037492752075, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39531344175338745, -0.13954110443592072, 1.0512728691101074, -0.18081872165203094, 1.7526100873947144, 0.6696676015853882, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.005525090266019106, 0.012233027257025242, 0.03570091351866722, 0.06934164464473724, 0.11555536091327667, 0.09762506186962128, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06401333957910538, 0.058650895953178406, 0.04732871055603027, 0.30972373485565186, 0.14322172105312347, 0.20078669488430023, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2804]}, "action": {"min": [1.0499999523162842, -0.9522503614425659, -0.22434446215629578, 1.1807525157928467, -0.20763880014419556, -0.7699999809265137, 0.3012981116771698, 0.0, 0.0, -0.2873101830482483, 0.0, 0.0, 0.0, -0.09861332178115845, 0.0, 0.0, 0.0, -0.10231563448905945, 0.0, 0.0, 0.0, -0.0927048772573471, 0.0, 0.0, -6.194762480760119e-09, 0.0, -0.020833613350987434, 0.0, 0.0, 0.9967107176780701, -1.1167888641357422, -0.24256059527397156, 1.0266845226287842, -1.767910122871399, -0.7652686834335327, -0.5030182600021362, 0.0, -0.1402207314968109, -0.2945435643196106, -0.13402169942855835, 0.0, 0.0, -0.09262508898973465, 0.0, 0.0, 0.0, -0.11289195716381073, 0.0, 0.0, 0.0, -0.1469682902097702, 0.0, 0.0, 0.0, 0.0, -0.16296349465847015, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440605282783508, -0.0011679388117045164, -2.135689283022657e-05, -2.089020235174601e-18, -0.7997575998306274], "max": [1.2986462116241455, -0.6462041735649109, 2.478801388289695e-18, 1.5700000524520874, 0.1852022409439087, 0.07597143948078156, 0.5941571593284607, 1.3935167789459229, 0.29154834151268005, 0.0, 0.24031423032283783, 0.6298878192901611, 0.6673903465270996, 0.11226162314414978, 0.05814545601606369, 0.05369521677494049, 0.5909380316734314, 0.19334526360034943, 0.09543689340353012, 0.05750619247555733, 0.3527354300022125, 0.2119201272726059, 0.046829573810100555, 0.04043712094426155, 0.09391514211893082, 0.4486907124519348, 0.20621433854103088, 0.09675248712301254, 0.0543244406580925, 1.4599502086639404, -0.2768489122390747, -0.0035088201984763145, 1.872187614440918, 0.27428755164146423, -0.009400097653269768, 0.7366226315498352, 1.388870358467102, 0.28886279463768005, 0.35495156049728394, 0.2846316397190094, 0.7847940921783447, 1.0911502838134766, 0.09591995179653168, 0.6579931974411011, 0.23824238777160645, 1.3828006982803345, 0.2254265993833542, 1.4253497123718262, 0.9438925981521606, 1.4964573383331299, 0.24085496366024017, 1.5790539979934692, 1.4157999753952026, 0.23727376759052277, 1.3406766653060913, 0.24597914516925812, 1.4056013822555542, 1.4420206546783447, 0.5626999735832214, -1.106863021850586, 0.5442830920219421, 0.0004213851352687925, 8.571617217967287e-05, 0.10619770735502243, -0.6000000238418579], "mean": [1.2031396627426147, -0.7559309601783752, -0.2221115231513977, 1.3223798274993896, 0.02890673652291298, -0.11922722309827805, 0.39370521903038025, 1.3362886905670166, 0.2820468246936798, -0.19069796800613403, 0.1801232397556305, 0.609674870967865, 0.5997476577758789, 0.09212496876716614, 0.05368883162736893, 0.049983493983745575, 0.48649829626083374, 0.16905730962753296, 0.08264925330877304, 0.05161453038454056, 0.27988287806510925, 0.18411459028720856, 0.038123298436403275, 0.033507417887449265, 0.06376736611127853, 0.3539164960384369, 0.1845492422580719, 0.05827583000063896, 0.04460851848125458, 1.24814772605896, -0.6015169024467468, -0.21665488183498383, 1.3168116807937622, -1.3209420442581177, -0.30215469002723694, -0.07432214170694351, 1.242611050605774, 0.04277887940406799, 0.07016105949878693, 0.0052473340183496475, 0.19047777354717255, 0.7623826265335083, 0.050601355731487274, 0.3512864112854004, 0.14394302666187286, 1.1861637830734253, -0.044847480952739716, 1.3334405422210693, 0.7768466472625732, 1.3454656600952148, -0.08701014518737793, 1.4351032972335815, 1.013878345489502, 0.0362846739590168, 1.1991112232208252, -0.10493292659521103, 0.9270249605178833, 1.325595498085022, 0.5627045631408691, -1.1068722009658813, 0.5441350340843201, -0.0007598086958751082, -1.7225175952262362e-07, 0.07510025799274445, -0.7536717057228088], "std": [0.06782927364110947, 0.0663285106420517, 0.01837841421365738, 0.10638604313135147, 0.04934496432542801, 0.17236623167991638, 0.05890890583395958, 0.13593268394470215, 0.029409795999526978, 0.05627382919192314, 0.031685855239629745, 0.0644131451845169, 0.09475535154342651, 0.02754076197743416, 0.007345476187765598, 0.0066831219010055065, 0.13266466557979584, 0.03711292892694473, 0.013011462986469269, 0.009282296523451805, 0.12228644639253616, 0.03979777172207832, 0.01441060658544302, 0.012454326264560223, 0.015083816833794117, 0.14817330241203308, 0.028848497197031975, 0.022924521937966347, 0.01629919372498989, 0.11562594771385193, 0.17443707585334778, 0.02062482014298439, 0.21545930206775665, 0.3429858386516571, 0.1245265007019043, 0.22289003431797028, 0.14513646066188812, 0.0791521668434143, 0.1538616269826889, 0.06479485332965851, 0.1602494716644287, 0.15706948935985565, 0.02578701637685299, 0.15490898489952087, 0.06306284666061401, 0.21046067774295807, 0.03641624003648758, 0.2760165333747864, 0.16672030091285706, 0.2690197825431824, 0.047268323600292206, 0.30403104424476624, 0.2588258981704712, 0.02140164002776146, 0.24620723724365234, 0.05027494207024574, 0.21782401204109192, 0.2841845154762268, 2.1144758648006245e-05, 9.387731552124023e-06, 2.8759748602169566e-05, 0.00021465816826093942, 9.166388736048248e-06, 0.017682747915387154, 0.03858208283782005], "count": [2804]}, "observation.state.tcp_pose": {"min": [0.36168378591537476, 0.1919877827167511, 0.971289873123169, -1.235021948814392, 1.21773362159729, -1.6212341785430908, 0.24123726785182953, -0.27958419919013977, 0.9639169573783875, -0.6655123829841614, 1.1686533689498901, 0.3069623112678528], "max": [0.415086954832077, 0.26720643043518066, 1.0905168056488037, -0.8090879917144775, 1.7662190198898315, -1.2289340496063232, 0.4720984697341919, -0.01819751411676407, 1.156879186630249, 1.2427525520324707, 1.9709328413009644, 1.6031359434127808], "mean": [0.39308133721351624, 0.2200384885072708, 1.0243586301803589, -1.1464898586273193, 1.6313008069992065, -1.5111037492752075, 0.39531344175338745, -0.13954110443592072, 1.0512728691101074, -0.18081872165203094, 1.7526100873947144, 0.6696676015853882], "std": [0.005525090266019106, 0.012233027257025242, 0.03570091351866722, 0.06934164464473724, 0.11555536091327667, 0.09762506186962128, 0.06401333957910538, 0.058650895953178406, 0.04732871055603027, 0.30972373485565186, 0.14322172105312347, 0.20078669488430023], "count": [2804]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.19202041625976562, 0.9712502360343933, -1.2350547313690186, 1.2178406715393066, -1.6213866472244263, 0.24128364026546478, -0.28475260734558105, 0.9638935327529907, -0.6687208414077759, 1.1684212684631348, 0.3068408668041229], "max": [0.4149751365184784, 0.26721319556236267, 1.0904687643051147, -0.8109806180000305, 1.766103982925415, -1.2289543151855469, 0.47207456827163696, -0.018015030771493912, 1.1584992408752441, 1.2594332695007324, 1.9708856344223022, 1.6042853593826294], "mean": [0.39309656620025635, 0.22007746994495392, 1.024367332458496, -1.1463688611984253, 1.6311848163604736, -1.5109803676605225, 0.39534512162208557, -0.13974809646606445, 1.0516659021377563, -0.18094313144683838, 1.7511383295059204, 0.6694693565368652], "std": [0.00552354846149683, 0.01225951500236988, 0.03572201356291771, 0.0696554183959961, 0.1157466396689415, 0.09781506657600403, 0.06406597048044205, 0.05890124663710594, 0.04751688241958618, 0.31101343035697937, 0.14503106474876404, 0.20134493708610535], "count": [2804]}, "subtask_index": {"min": [0], "max": [54], "mean": [26.141583452211126], "std": [15.598140724746608], "count": [2804]}, "observation.tactile": {"min": [-0.00878262147307396, -4.09376407333184e-05, -8.881324902176857e-05, -0.0012830571504309773, -5.447322109830566e-05, -0.00017837203631643206, -0.006745172198861837, -5.1546092436183244e-05, -0.00011108536273241043, -0.0004703876911662519, -2.6893201720668003e-05, -0.0001430936681572348, -0.012987629510462284, -4.7512698074569926e-05, -0.00010477328032720834, -0.0014850046718493104, -3.973215279984288e-05, -0.00026704417541623116, -0.012311561964452267, -3.5938614018959925e-05, -7.74979853304103e-05, -0.001130012678913772, -6.175586167955771e-05, -0.00025601190282031894, -0.003233235329389572, -5.0160680984845385e-05, -0.00011357510084053501, -0.0009054887923412025, -2.431156644888688e-05, -6.105231295805424e-05, -5.623408317565918, -3.6995974369347095e-05, -8.518516551703215e-05, -0.1946801245212555, -0.0045763785019516945, -0.07614713162183762, -5.405409812927246, -0.0023803829681128263, -9.293583570979536e-05, -0.19651669263839722, -0.023849986493587494, -0.08423058688640594, -0.366603821516037, -4.656809687730856e-05, -0.00010205150465480983, -0.005861685611307621, -0.0014028737787157297, -0.00701788067817688, -0.01791423186659813, -5.089157639304176e-05, -0.00011548364273039624, -0.0012881861766800284, -9.486806811764836e-05, -0.00033633376006036997, -0.0075188144110143185, -4.1473875171504915e-05, -9.174615843221545e-05, -0.0011930715991184115, -6.954267882974818e-05, -0.00012471717491280288], "max": [0.031411997973918915, 0.021294422447681427, 0.06603752821683884, 1.6767860415711766e-06, 0.0003752759948838502, 0.000493745319545269, 0.003998667001724243, 0.00914227869361639, 0.026459671556949615, 1.9088693079538643e-06, 7.544734398834407e-05, 4.591002289089374e-05, 0.026223311200737953, 0.02488190308213234, 0.07651012390851974, 1.977499550775974e-06, 0.0004388081724755466, 0.0003690806042868644, 0.0036088100168854, 0.019898023456335068, 0.05652080848813057, 1.4406489299290115e-06, 0.00013997613859828562, 2.4419452529400587e-05, 0.010791326873004436, 0.015454236418008804, 0.04531753063201904, 2.128434516635025e-06, 0.0002726959064602852, 0.00012343762500677258, 4.101382732391357, 12.860214233398438, 10.723119735717773, 1.5772999404362054e-06, 0.023808659985661507, 0.06414003670215607, 0.8043097257614136, 7.323978900909424, 11.397533416748047, 1.752005687194469e-06, 0.0029502022080123425, 0.03211631253361702, 0.01999467983841896, 0.04369179904460907, 0.29747477173805237, 1.868282879513572e-06, 0.00027290996513329446, 0.00024277466582134366, 0.005950210615992546, 0.02070944383740425, 0.06240351125597954, 2.090280986521975e-06, 0.00024167449737433344, 3.2775147701613605e-05, 0.008501363918185234, 0.019473334774374962, 0.054954953491687775, 1.6803026028355816e-06, 0.00016442347259726375, 0.00013854922144673765], "mean": [-8.472051558783278e-05, 0.001299934578128159, 0.003864683909341693, -6.692522583762184e-05, 9.379262337461114e-06, -3.666081966002821e-06, 0.00027312268503010273, 3.1322026188718155e-05, 0.00012870540376752615, -2.233328132206225e-06, -1.2733000858133892e-06, 5.253535618976457e-06, 9.750103345140815e-06, 0.0011053855996578932, 0.003314630128443241, -6.266735726967454e-05, 4.655842985812342e-06, -1.0342872656110558e-06, 6.174868758535013e-05, 0.0003342915733810514, 0.0009965855861082673, -1.8096088751917705e-05, 9.902962574415142e-07, 1.0319470220565563e-06, 0.0002578005369286984, 0.0005222109612077475, 0.0015312673058360815, -2.1645284505211748e-05, 3.7134939248062437e-06, 4.4800308387493715e-06, 0.7882042527198792, 1.8991878032684326, 2.8518242835998535, -0.04931880533695221, 0.00358527060598135, 0.012168400920927525, -1.3306018114089966, 0.9019985198974609, 3.497999906539917, -0.05181846767663956, -0.005045169498771429, -0.018127363175153732, 6.037344064679928e-05, 0.0011293732095509768, 0.003490038914605975, -7.139724039006978e-05, 9.018097443913575e-06, -2.495338549124426e-06, 0.0001551796158310026, 0.0015982340555638075, 0.004791948478668928, -6.213734013726935e-05, 1.6664616850903258e-05, -1.968515562111861e-06, 2.0672807295341045e-05, 0.0035531308967620134, 0.01023670844733715, -0.0002055688382824883, 2.84650541289011e-05, -8.97644531505648e-06], "std": [0.0013641408877447248, 0.003146008588373661, 0.009149136953055859, 0.00017087842570617795, 3.2991491025313735e-05, 2.627557114465162e-05, 0.0003699174849316478, 0.00048635955317877233, 0.0014293272979557514, 2.5383364118169993e-05, 3.606401151046157e-06, 7.522357918787748e-06, 0.0017554592341184616, 0.002829731907695532, 0.008433676324784756, 0.00016497669275850058, 2.910612238338217e-05, 3.0076136681600474e-05, 0.0008368924609385431, 0.0014877686044201255, 0.004299920052289963, 8.183256431948394e-05, 1.037925721902866e-05, 1.807482840376906e-05, 0.000504413153976202, 0.0013761114096269011, 0.003950710874050856, 6.209543062141165e-05, 1.6278645489364862e-05, 8.544420779799111e-06, 1.2793302536010742, 2.2403769493103027, 2.91589093208313, 0.05256117135286331, 0.004716160707175732, 0.02268647775053978, 1.4652186632156372, 1.2392914295196533, 3.613720655441284, 0.05446166917681694, 0.0060084909200668335, 0.020845647901296616, 0.007294074632227421, 0.0025875524152070284, 0.009238102473318577, 0.000188723424798809, 3.796090459218249e-05, 0.0001389924145769328, 0.0006720537785440683, 0.002177594229578972, 0.006475304253399372, 9.623349615139887e-05, 2.4333730834769085e-05, 1.531615635030903e-05, 0.000992137473076582, 0.0040098219178617, 0.01144412811845541, 0.00023379246704280376, 3.6416084185475484e-05, 1.922644514706917e-05], "count": [2804]}, "timestamp": {"min": [0.0], "max": [93.43333333333334], "mean": [46.71666666666666], "std": [26.9815008642753], "count": [2804]}, "frame_index": {"min": [0], "max": [2803], "mean": [1401.5], "std": [809.445025928259], "count": [2804]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2804]}, "index": {"min": [0], "max": [2803], "mean": [1401.5], "std": [809.445025928259], "count": [2804]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2804]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.568966805934906]], [[0.5691787600517273]], [[0.5697467923164368]]], "std": [[[0.3048592507839203]], [[0.30458682775497437]], [[0.30534467101097107]]], "count": [2804]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30117571353912354]], [[0.30528321862220764]], [[0.3042314946651459]]], "std": [[[0.18060488998889923]], [[0.1818024069070816]], [[0.18275630474090576]]], "count": [2804]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30946436524391174]], [[0.3130650222301483]], [[0.3103266954421997]]], "std": [[[0.18434561789035797]], [[0.18410781025886536]], [[0.18363533914089203]]], "count": [2804]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5725296139717102]], [[0.5727611184120178]], [[0.5730801820755005]]], "std": [[[0.308047354221344]], [[0.3077192008495331]], [[0.30862829089164734]]], "count": [2804]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5607843399047852]], [[0.5607843399047852]], [[0.5607843399047852]]], "mean": [[[0.0024832782801240683]], [[0.0024832782801240683]], [[0.0024832782801240683]]], "std": [[[0.02906123362481594]], [[0.02906123362481594]], [[0.02906123362481594]]], "count": [2804]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49311670660972595]], [[0.49311670660972595]], [[0.49311670660972595]]], "std": [[[0.22257772088050842]], [[0.22257772088050842]], [[0.22257772088050842]]], "count": [2804]}}}
+{"episode_index": 1, "stats": {"observation.state": {"min": [1.0501641035079956, -0.8334251642227173, -0.22463399171829224, 1.1429991722106934, -0.15721756219863892, -0.7690169215202332, 0.40253549814224243, 0.0068841553293168545, -0.00020705588394775987, -0.26872220635414124, 0.00015663690282963216, 0.003517972771078348, 0.0036478221882134676, -0.059206824749708176, 0.003489253344014287, 0.0008478245581500232, 0.007065784651786089, -0.003012703964486718, 0.006837744731456041, 0.0008416165946982801, -0.0031625893898308277, 0.0015815405640751123, 0.002658512443304062, 0.0008065862348303199, 0.005398837383836508, -0.0028461352922022343, 0.006400002166628838, 0.005767319351434708, 0.000846050854306668, 0.9751279354095459, -1.1783690452575684, -0.2428349107503891, 1.0169579982757568, -1.7005902528762817, -0.7921382188796997, -0.404853492975235, 0.00561670633032918, -0.07958798855543137, -0.25615525245666504, -0.1391800194978714, 0.003260914934799075, 0.00527572724968195, -0.058907534927129745, 0.003571866312995553, 0.0008136810502037406, 0.003536940086632967, -0.10924062132835388, 0.0033559375442564487, 0.000872656237334013, -0.00034589291317388415, -0.14650531113147736, 0.003869699314236641, 0.0009369525359943509, 0.006113830022513866, -0.002241184702143073, -0.16806523501873016, 0.0032073757611215115, 0.000868221977725625, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0011504855938255787, -9.58738019107841e-05, -0.01859951764345169, -0.7925887107849121], "max": [1.2700895071029663, -0.6291489005088806, -0.0004583965928759426, 1.5694879293441772, 0.1984645277261734, -0.038117505609989166, 0.5907493233680725, 1.3691015243530273, 0.2917553186416626, -0.003499425482004881, 0.25418564677238464, 0.6194727420806885, 0.48470184206962585, 0.10172737389802933, 0.037804555147886276, 0.040807321667671204, 0.5041859149932861, 0.18562358617782593, 0.1038631722331047, 0.05004648119211197, 0.1415286362171173, 0.19331149756908417, 0.008919029496610165, 0.01322109717875719, 0.24882282316684723, 0.4255084991455078, 0.2679250240325928, 0.0906347781419754, 0.05004027113318443, 1.4257978200912476, -0.3049589693546295, -0.002759247785434127, 1.8813259601593018, 0.163737952709198, -0.06787421554327011, 0.6942013502120972, 1.4242606163024902, 0.2668377459049225, 0.3552403748035431, 0.1778494417667389, 0.5840001106262207, 0.9092413187026978, 0.12465861439704895, 0.6632974147796631, 0.2558208703994751, 1.4297394752502441, 0.25872451066970825, 1.4295425415039062, 0.8700094223022461, 1.4496066570281982, 0.2670809030532837, 1.5491780042648315, 1.0206092596054077, 0.24986855685710907, 1.3221230506896973, 0.2811734676361084, 1.3728240728378296, 1.3092961311340332, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.0003834952076431364, 9.58738019107841e-05, 0.09520268440246582, -0.5723665952682495], "mean": [1.1705635786056519, -0.6768282651901245, -0.22223630547523499, 1.2276538610458374, -0.0014399775536730886, -0.1512707769870758, 0.47726279497146606, 1.3247506618499756, 0.2825816571712494, -0.20492729544639587, 0.21151447296142578, 0.5901732444763184, 0.42269548773765564, 0.09179338812828064, 0.0334174782037735, 0.03472333028912544, 0.4096425175666809, 0.16910359263420105, 0.08132293075323105, 0.044097237288951874, 0.09042544662952423, 0.17470602691173553, 0.008603036403656006, 0.010788566432893276, 0.09752029180526733, 0.3094196319580078, 0.20952464640140533, 0.057751454412937164, 0.041180066764354706, 1.2414311170578003, -0.6003530621528625, -0.21135833859443665, 1.3172030448913574, -1.2893409729003906, -0.3048141896724701, -0.0767044946551323, 1.259686827659607, 0.03473662585020065, 0.07626841217279434, 0.003576669143512845, 0.18094098567962646, 0.7525458335876465, 0.0580313466489315, 0.36418288946151733, 0.1270502656698227, 1.1799522638320923, -0.048841580748558044, 1.3114696741104126, 0.6684442758560181, 1.3293266296386719, -0.09727221727371216, 1.4109408855438232, 0.835686445236206, 0.043613605201244354, 1.2422937154769897, -0.11341738700866699, 0.9759635925292969, 1.2500627040863037, 0.5626965165138245, -1.1068586111068726, 0.5440797209739685, -0.0005596601986326277, 7.543178526248084e-08, 0.06666328758001328, -0.7364984154701233], "std": [0.04790129140019417, 0.040512289851903915, 0.01919686608016491, 0.07393793016672134, 0.03828087076544762, 0.11733695864677429, 0.02900415100157261, 0.1222042515873909, 0.02779271826148033, 0.03019007109105587, 0.02203255333006382, 0.06019797921180725, 0.0636129155755043, 0.017366329208016396, 0.004665098153054714, 0.004884985275566578, 0.08312426507472992, 0.025950757786631584, 0.015562642365694046, 0.00711421761661768, 0.03182586655020714, 0.025279084220528603, 0.001150591066107154, 0.002096592914313078, 0.029027186334133148, 0.0877022072672844, 0.025942768901586533, 0.01885150745511055, 0.008691328577697277, 0.12138010561466217, 0.18788237869739532, 0.024366267025470734, 0.2287658303976059, 0.3241478204727173, 0.1365928053855896, 0.2093130201101303, 0.1465180218219757, 0.07044817507266998, 0.16428524255752563, 0.0580856017768383, 0.11809168756008148, 0.1414841264486313, 0.027329446747899055, 0.11757940798997879, 0.05545652657747269, 0.20153924822807312, 0.03631848096847534, 0.26951292157173157, 0.1474599540233612, 0.24628601968288422, 0.047913070768117905, 0.2953292727470398, 0.18380801379680634, 0.02471454069018364, 0.23513774573802948, 0.057326048612594604, 0.23108114302158356, 0.26081591844558716, 4.433843059814535e-05, 4.400385660119355e-05, 6.24629610683769e-05, 0.00021393819770310074, 3.8023651995899854e-06, 0.018037525936961174, 0.03864406794309616], "count": [2542]}, "observation.state.joint_torque": {"min": [-32.073001861572266, -16.194000244140625, -17.611000061035156, -11.508999824523926, -0.29679998755455017, -2.240000009536743, 1.018399953842163, -1.5600711107254028, -0.37569060921669006, -0.38771912455558777, -0.2994881868362427, -0.0979551151394844, -0.48932674527168274, -0.5795164108276367, -0.09961536526679993, -0.038529157638549805, -0.4691780209541321, -0.2955149710178375, -0.13116022944450378, -0.033534638583660126, -0.3521233797073364, -0.46534013748168945, -0.10459613054990768, -0.03710215538740158, -0.1130288764834404, -0.406812846660614, -0.5564892888069153, -0.15274357795715332, -0.0321076326072216, 12.577500343322754, -18.14699935913086, -0.07100000232458115, -14.847000122070312, -3.304800033569336, -2.9567999839782715, -3.439199924468994, -1.3359302282333374, -0.7730312347412109, -0.5269004106521606, -0.831359326839447, -0.2473781555891037, -0.6850574612617493, -0.9661805033683777, -0.3602755665779114, -0.08562035858631134, -0.5871921181678772, -0.5603271126747131, -0.6541408896446228, -0.11130645871162415, -0.6380437612533569, -0.37515053153038025, -0.6956473588943481, -0.09846341609954834, -0.15744879841804504, -0.6284490823745728, -0.44231298565864563, -0.6641023755073547, -0.14912211894989014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.339500427246094, 12.227999687194824, -11.418999671936035, 3.7730000019073486, 2.285599946975708, 1.4191999435424805, 2.4567999839782715, 0.2929113209247589, 0.2699878513813019, 0.37156417965888977, 0.390204519033432, 0.09131408482789993, 0.722476601600647, 0.3290962278842926, 0.10127562284469604, 0.01855107769370079, 0.3809073269367218, 0.338690847158432, 0.12285894900560379, 0.01212955079972744, 0.4020155072212219, 0.33677196502685547, 0.0265640988945961, 0.013556556776165962, 0.06553036719560623, 0.29263657331466675, 0.3358124792575836, 0.1062563955783844, 0.013556556776165962, 39.919498443603516, 15.241499900817871, 22.47100067138672, 4.539000034332275, 0.42640000581741333, 3.4679999351501465, 1.3240000009536743, 2.121696710586548, 3.8498735427856445, 1.9820897579193115, 1.1730989217758179, 0.44660890102386475, 2.149199962615967, 0.2878391444683075, 1.0575830936431885, 0.21333740651607513, 0.42983996868133545, 0.4288804829120636, 0.25899994373321533, 0.07848532497882843, 0.45382657647132874, 0.664908766746521, 0.17100638151168823, 0.020691584795713425, 0.11698708683252335, 0.42216426134109497, 0.8184229731559753, 0.12119869887828827, 0.05850724130868912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.114044189453125, 2.051680564880371, -13.537862777709961, -1.9029574394226074, 0.11975239217281342, -0.027878839522600174, 1.7513422966003418, 0.000752494262997061, -0.0009548960370011628, 0.01658467948436737, 0.007341243792325258, 0.001312140841037035, 0.014578442089259624, 0.0076711587607860565, 0.0008294761646538973, 0.00024307348940055817, -0.008071286603808403, 0.00980222225189209, -0.0010469669941812754, -0.00047828786773607135, 0.018245341256260872, 0.018331341445446014, -0.00019985809922218323, -0.0004064329550601542, -0.0037464401684701443, 0.010574446991086006, -0.0040084621869027615, -3.7229016015771776e-05, -0.00011002873361576349, 27.242292404174805, 0.6181579828262329, 12.758453369140625, -2.301048517227173, -0.6145992279052734, 1.4780572652816772, -1.0142918825149536, 0.172299325466156, 0.8264089822769165, 0.24274644255638123, 0.09120910614728928, 0.0727711096405983, 0.544979989528656, -0.1946481615304947, 0.2566143274307251, 0.07221381366252899, -0.023319285362958908, -0.02203819528222084, 0.0032806789968162775, -0.0007718865526840091, 0.011275378055870533, 0.003579292679205537, -0.0045921532437205315, -0.0007121008238755167, 0.002302293898537755, -0.018956013023853302, 0.018772581592202187, -0.015441969968378544, 0.0014609720092266798, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6675472855567932, 1.0115606784820557, 0.6074517965316772, 0.6941476464271545, 0.20353960990905762, 0.33786702156066895, 0.17129868268966675, 0.0445268340408802, 0.022591371089220047, 0.06977982819080353, 0.05570581927895546, 0.009519295766949654, 0.06460274755954742, 0.04683937877416611, 0.007468834985047579, 0.004199339542537928, 0.05942339822649956, 0.045794080942869186, 0.017003312706947327, 0.004462706856429577, 0.05292532220482826, 0.07012078166007996, 0.004450655076652765, 0.003712319303303957, 0.012731541879475117, 0.042697057127952576, 0.0636020079255104, 0.011274972930550575, 0.004025164991617203, 4.701338291168213, 2.2545814514160156, 1.69476318359375, 1.98541259765625, 0.36398908495903015, 0.6331888437271118, 0.4678369462490082, 0.5055181980133057, 1.0014821290969849, 0.38434943556785583, 0.2532214820384979, 0.10478901118040085, 0.6777666807174683, 0.2882561683654785, 0.2944132387638092, 0.08063394576311111, 0.08616557717323303, 0.07768598198890686, 0.02837829478085041, 0.009635159745812416, 0.05613559111952782, 0.061187345534563065, 0.02194889262318611, 0.009435147047042847, 0.02392677403986454, 0.09140809625387192, 0.09486517310142517, 0.04683183878660202, 0.006374195218086243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2542]}, "observation.state.tcp": {"min": [0.3616904318332672, 0.1913018524646759, 0.9739797711372375, -1.3227161169052124, 1.2181668281555176, -1.5673407316207886, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2330411821603775, -0.26748862862586975, 0.9606860280036926, -0.5848985314369202, 1.2197784185409546, 0.4120144546031952, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4132588505744934, 0.23853464424610138, 1.0785095691680908, -0.8120306730270386, 1.6550182104110718, -1.1843777894973755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4767507314682007, -0.034699663519859314, 1.1558476686477661, 1.2422983646392822, 1.98330557346344, 1.6469364166259766, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4041030704975128, 0.2085363119840622, 1.0103248357772827, -1.0800211429595947, 1.5694140195846558, -1.4995557069778442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3937406837940216, -0.1383861005306244, 1.05060613155365, -0.13822078704833984, 1.7704678773880005, 0.695584237575531, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0072916108183562756, 0.007709313649684191, 0.026445917785167694, 0.06943760812282562, 0.07315563410520554, 0.05985591933131218, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06642749160528183, 0.06034548580646515, 0.05123436823487282, 0.2905846834182739, 0.1409515142440796, 0.1801537722349167, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2542]}, "action": {"min": [1.0499999523162842, -0.8335257172584534, -0.22463232278823853, 1.1430062055587769, -0.1572236716747284, -0.7699999809265137, 0.40222954750061035, 0.0, 0.0, -0.2708001732826233, 0.0, 0.0, 0.0, -0.06102787330746651, 0.0, 0.0, 0.0, -0.002028773305937648, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9751339554786682, -1.1784738302230835, -0.24283815920352936, 1.0169341564178467, -1.700590968132019, -0.7922161817550659, -0.4049018323421478, 0.0, -0.08704078197479248, -0.25426098704338074, -0.13915897905826569, 0.0, 0.0, -0.05787045136094093, 0.0, 0.0, 0.0, -0.11321195214986801, 0.0, 0.0, 0.0, -0.1513521522283554, 0.0, 0.0, 0.0, 0.0, -0.17022351920604706, 0.0, 0.0, 0.5625880360603333, -1.1069585084915161, 0.5439890623092651, -0.0011348903644829988, -6.431591464206576e-05, -0.01872924342751503, -0.7928272485733032], "max": [1.270076870918274, -0.6291614770889282, 6.505592297223882e-18, 1.5700000524520874, 0.19906657934188843, -0.038146816194057465, 0.5912136435508728, 1.3792232275009155, 0.2903078496456146, 0.0, 0.2570185661315918, 0.6229276061058044, 0.4910602569580078, 0.10470767319202423, 0.04303063079714775, 0.041817087680101395, 0.5097553133964539, 0.18749146163463593, 0.1075739786028862, 0.05322203040122986, 0.13776028156280518, 0.1989366114139557, 0.01846441440284252, 0.01836325041949749, 0.26179972290992737, 0.4289900064468384, 0.2687949240207672, 0.09367063641548157, 0.054111551493406296, 1.4257920980453491, -0.3049429953098297, -0.0030471254140138626, 1.8825507164001465, 0.1640496402978897, -0.06788106262683868, 0.6945887804031372, 1.430606722831726, 0.2840929627418518, 0.36061620712280273, 0.18268680572509766, 0.5864866375923157, 0.9382801055908203, 0.12628433108329773, 0.6693095564842224, 0.2553194761276245, 1.4667004346847534, 0.2609297037124634, 1.4348344802856445, 0.87226802110672, 1.483884334564209, 0.27137285470962524, 1.5531445741653442, 1.021288275718689, 0.2617996037006378, 1.32672917842865, 0.28372064232826233, 1.3756507635116577, 1.4267727136611938, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 0.0004219751281198114, 1.3844583918398712e-05, 0.09613753110170364, -0.5723629593849182], "mean": [1.1706677675247192, -0.6768630146980286, -0.22225788235664368, 1.227709174156189, -0.0015417416580021381, -0.15135931968688965, 0.4772840738296509, 1.3318511247634888, 0.28349003195762634, -0.20318037271499634, 0.2130436897277832, 0.5957838892936707, 0.4260498285293579, 0.09268653392791748, 0.03833351656794548, 0.03771689906716347, 0.4107932150363922, 0.17157188057899475, 0.08178991079330444, 0.04630722478032112, 0.09078728407621384, 0.18089541792869568, 0.013827929273247719, 0.013753569684922695, 0.09754076600074768, 0.31428980827331543, 0.20992767810821533, 0.05877170339226723, 0.04438157007098198, 1.2423890829086304, -0.6011790037155151, -0.2113729864358902, 1.317690372467041, -1.289571762084961, -0.30528438091278076, -0.07679509371519089, 1.2593820095062256, 0.037400662899017334, 0.07572435587644577, 0.0032665934413671494, 0.1813126504421234, 0.7562273144721985, 0.05496276915073395, 0.3652118742465973, 0.1292220801115036, 1.1782397031784058, -0.04850636050105095, 1.3106547594070435, 0.6681403517723083, 1.3283591270446777, -0.09595292061567307, 1.4094334840774536, 0.8354095816612244, 0.04606608673930168, 1.2400290966033936, -0.11252029240131378, 0.9737135767936707, 1.3294563293457031, 0.5627001523971558, -1.1068658828735352, 0.5441453456878662, -0.0006047185161150992, -2.745720166785759e-07, 0.06672700494527817, -0.7365480065345764], "std": [0.04792039841413498, 0.04054110497236252, 0.019132209941744804, 0.07402758300304413, 0.03814665600657463, 0.11755196005105972, 0.029023338109254837, 0.13734138011932373, 0.03142910450696945, 0.03305656835436821, 0.025216922163963318, 0.06672199070453644, 0.06581766903400421, 0.016647696495056152, 0.005416442174464464, 0.005235286895185709, 0.08318120241165161, 0.02513892389833927, 0.015026446431875229, 0.007421413902193308, 0.031451594084501266, 0.02630867063999176, 0.0036620621103793383, 0.0036446789745241404, 0.029426105320453644, 0.08670974522829056, 0.026693062856793404, 0.01680980809032917, 0.009656592272222042, 0.1213388592004776, 0.18848846852779388, 0.024334106594324112, 0.22916880249977112, 0.3252962827682495, 0.13684779405593872, 0.20944638550281525, 0.15593762695789337, 0.07253129035234451, 0.16392239928245544, 0.05898365005850792, 0.11853238195180893, 0.1464395970106125, 0.02409025840461254, 0.11847753822803497, 0.056686870753765106, 0.20212076604366302, 0.03685305267572403, 0.26988011598587036, 0.14771029353141785, 0.24648700654506683, 0.04737308621406555, 0.2958505153656006, 0.1840822398662567, 0.027718588709831238, 0.23505724966526031, 0.058010734617710114, 0.23127412796020508, 0.2795428931713104, 1.729142604744993e-05, 5.939621587458532e-06, 2.2376703782356344e-05, 0.0002133788075298071, 5.879631771676941e-06, 0.018067192286252975, 0.03871019557118416], "count": [2542]}, "observation.state.tcp_pose": {"min": [0.3616904318332672, 0.1913018524646759, 0.9739797711372375, -1.3227161169052124, 1.2181668281555176, -1.5673407316207886, 0.2330411821603775, -0.26748862862586975, 0.9606860280036926, -0.5848985314369202, 1.2197784185409546, 0.4120144546031952], "max": [0.4132588505744934, 0.23853464424610138, 1.0785095691680908, -0.8120306730270386, 1.6550182104110718, -1.1843777894973755, 0.4767507314682007, -0.034699663519859314, 1.1558476686477661, 1.2422983646392822, 1.98330557346344, 1.6469364166259766], "mean": [0.4041030704975128, 0.2085363119840622, 1.0103248357772827, -1.0800211429595947, 1.5694140195846558, -1.4995557069778442, 0.3937406837940216, -0.1383861005306244, 1.05060613155365, -0.13822078704833984, 1.7704678773880005, 0.695584237575531], "std": [0.0072916108183562756, 0.007709313649684191, 0.026445917785167694, 0.06943760812282562, 0.07315563410520554, 0.05985591933131218, 0.06642749160528183, 0.06034548580646515, 0.05123436823487282, 0.2905846834182739, 0.1409515142440796, 0.1801537722349167], "count": [2542]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.19134150445461273, 0.9739432334899902, -1.3201525211334229, 1.2178406715393066, -1.5671790838241577, 0.23242442309856415, -0.27009543776512146, 0.9606390595436096, -0.5849235653877258, 1.2192693948745728, 0.4119405150413513], "max": [0.41327905654907227, 0.2384728193283081, 1.0784991979599, -0.8121809363365173, 1.6550548076629639, -1.1858692169189453, 0.47658002376556396, -0.034701865166425705, 1.1586823463439941, 1.238944172859192, 1.9834496974945068, 1.6469875574111938], "mean": [0.4041260778903961, 0.2085421234369278, 1.010339617729187, -1.0798847675323486, 1.5693422555923462, -1.4995630979537964, 0.3938642144203186, -0.1386839598417282, 1.0511106252670288, -0.1381799727678299, 1.7686315774917603, 0.6951789855957031], "std": [0.007247390691190958, 0.007718799635767937, 0.02650756947696209, 0.06923792511224747, 0.07335549592971802, 0.05975748226046562, 0.0664122998714447, 0.06059284880757332, 0.051439959555864334, 0.29176390171051025, 0.1429118514060974, 0.18044765293598175], "count": [2542]}, "subtask_index": {"min": [54], "max": [105], "mean": [76.74429583005508], "std": [15.36769108563532], "count": [2542]}, "observation.tactile": {"min": [-0.018906988203525543, -3.78859622287564e-05, -8.23326117824763e-05, -0.0013595942873507738, -7.621552504133433e-05, -0.000348119210684672, -0.00364609993994236, -4.4398682803148404e-05, -0.00010307091724826023, -0.0003684766998048872, -2.4170485630747862e-05, -8.157736010616645e-05, -0.007028082385659218, -4.704938692157157e-05, -0.00010392713011242449, -0.000903252512216568, -3.856697367154993e-05, -0.0001418971223756671, -0.017340878024697304, -3.489200753392652e-05, -7.57151356083341e-05, -0.0012944253394380212, -2.493289503036067e-05, -0.0003465175977908075, -0.01568153128027916, -4.506107507040724e-05, -0.00010083585948450491, -0.0011377113405615091, -5.683783092536032e-05, -0.000309784896671772, -3.9840269088745117, -3.7220172089291736e-05, -8.645954949315637e-05, -0.15112358331680298, -0.012127851136028767, -0.08001171052455902, -3.979130268096924, -0.5009545087814331, -0.0001101232337532565, -0.17190925776958466, -0.02879808284342289, -0.06085221841931343, -3.024897336959839, -0.3942796587944031, -0.14182382822036743, -0.029371505603194237, -0.006626194342970848, -0.05722982808947563, -0.013018746860325336, -5.991823854856193e-05, -0.00013291444338392466, -0.0010940753854811192, -9.437929111300036e-05, -0.00022850425739306957, -0.08747357130050659, -4.249801713740453e-05, -9.511692041996866e-05, -0.0005710002151317894, -5.9523361414903775e-05, -0.0011487276060506701], "max": [0.0005121610593050718, 0.023715805262327194, 0.06666742265224457, 1.5727348454674939e-06, 0.000194749838556163, 6.450836735893972e-06, 0.0006385823944583535, 0.006854420993477106, 0.019946755841374397, 1.7704122683426249e-06, 7.745925540803e-05, 6.327049504761817e-06, 0.017553461715579033, 0.016753027215600014, 0.04996035620570183, 1.949236320797354e-06, 0.00024955911794677377, 0.0002442399854771793, 0.0034669176675379276, 0.022755250334739685, 0.06552443653345108, 1.406229102940415e-06, 0.0001318261056439951, 3.071454921155237e-05, 0.004544381983578205, 0.019878529012203217, 0.05814749747514725, 1.8872633518185467e-06, 0.00014300557086244226, 3.480730083538219e-05, 4.969671249389648, 11.98241138458252, 8.488245964050293, 1.5771486232551979e-06, 0.019390488043427467, 0.07694698870182037, 0.057265523821115494, 3.845869541168213, 10.855693817138672, 2.074057192658074e-06, 0.002906682202592492, 0.005038035102188587, 0.00989184807986021, 1.0832659006118774, 1.3411705493927002, 0.0036702274810522795, 0.002784249372780323, 0.00010229815961793065, 0.07707720994949341, 0.019881466403603554, 0.05982721224427223, 2.419699512756779e-06, 0.00015004572924226522, 0.001071477890945971, 0.0012595022562891245, 0.009298530407249928, 0.027083221822977066, 1.7693962490739068e-06, 0.00020895342458970845, 9.061464879778214e-06], "mean": [-0.0020874380134046078, 0.0030637718737125397, 0.009726089425384998, -0.00017550791380926967, -3.761302195925964e-06, -3.7012661778135225e-05, 5.766534377471544e-05, 0.00036801735404878855, 0.00111023907084018, -1.876132591860369e-05, 7.426474439853337e-07, 9.382794701195962e-07, 0.00025550287682563066, 0.0004264168383087963, 0.0013034800067543983, -2.2998052372713573e-05, 1.960264171430026e-06, 4.343269665696425e-06, -0.0007470128475688398, 0.001265779952518642, 0.003701508278027177, -6.847036274848506e-05, 7.392130555672338e-06, -1.6408837836934254e-05, -0.00010153605398954824, 0.0007413991261273623, 0.0021956495475023985, -3.853039015666582e-05, 2.5402946448593866e-06, -2.272966412419919e-06, 0.9943855404853821, 1.7432043552398682, 2.8338265419006348, -0.04749361798167229, 0.001976462546736002, 0.016795795410871506, -1.1103750467300415, 0.683745801448822, 3.4712367057800293, -0.0537724606692791, -0.005477867554873228, -0.015584931708872318, -0.0221127737313509, 0.005736206192523241, 0.011191044934093952, -0.0002251711266580969, -1.5516963685513474e-05, -0.00044846112723462284, 0.00018443568842485547, 0.000502792710904032, 0.0015097154537215829, -2.3859845896367915e-05, -2.850006922017201e-06, 4.946931767335627e-06, 0.00018934051331598312, 0.00019474855798762292, 0.0005795438191853464, -1.073511884897016e-05, -1.326835672443849e-06, 4.421449830260826e-06], "std": [0.0029827626422047615, 0.0038000440690666437, 0.011842154897749424, 0.0002216186112491414, 3.0291592338471673e-05, 5.53636382392142e-05, 0.00047240479034371674, 0.0008932063938118517, 0.0026252151001244783, 4.43651297246106e-05, 5.492971013154602e-06, 9.582745406078175e-06, 0.00099461292847991, 0.0015041811857372522, 0.004521808121353388, 8.327729301527143e-05, 2.013360062846914e-05, 1.570417771290522e-05, 0.0023142683785408735, 0.00306920544244349, 0.008907996118068695, 0.0001725623878883198, 2.0886656784568913e-05, 5.143954695085995e-05, 0.0013284911401569843, 0.001990193733945489, 0.005795072764158249, 0.00010625556024024263, 1.33204048324842e-05, 2.6376674213679507e-05, 1.1981732845306396, 1.7797008752822876, 2.656374931335449, 0.04487402364611626, 0.004981995094567537, 0.021266957744956017, 1.136921763420105, 0.766124963760376, 3.3869094848632812, 0.05310480669140816, 0.006266101263463497, 0.01622360572218895, 0.1922806203365326, 0.049324505031108856, 0.061655428260564804, 0.0013672079658135772, 0.0003566499799489975, 0.003840732155367732, 0.002376884687691927, 0.0016079682391136885, 0.004769874271005392, 8.191053348127753e-05, 1.020492345560342e-05, 3.400453715585172e-05, 0.0017712347907945514, 0.0008173283422365785, 0.00235158228315413, 4.529099533101544e-05, 7.678989277337678e-06, 2.3652033632970415e-05], "count": [2542]}, "timestamp": {"min": [0.0], "max": [84.7], "mean": [42.35], "std": [24.460404511963592], "count": [2542]}, "frame_index": {"min": [0], "max": [2541], "mean": [1270.5], "std": [733.8121353589078], "count": [2542]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2542]}, "index": {"min": [2804], "max": [5345], "mean": [4074.5], "std": [733.8121353589078], "count": [2542]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2542]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5635133385658264]], [[0.5636132955551147]], [[0.5643675327301025]]], "std": [[[0.3025513291358948]], [[0.30236127972602844]], [[0.3032682240009308]]], "count": [2542]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3001130521297455]], [[0.30468469858169556]], [[0.3036392629146576]]], "std": [[[0.18001720309257507]], [[0.1811477541923523]], [[0.18216273188591003]]], "count": [2542]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3094189167022705]], [[0.3131488561630249]], [[0.31030482053756714]]], "std": [[[0.18422062695026398]], [[0.18375946581363678]], [[0.18343234062194824]]], "count": [2542]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.567825198173523]], [[0.5679892301559448]], [[0.5684268474578857]]], "std": [[[0.3069596290588379]], [[0.3066955804824829]], [[0.3077206313610077]]], "count": [2542]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5686274766921997]], [[0.5686274766921997]], [[0.5686274766921997]]], "mean": [[[0.0024804205168038607]], [[0.0024804205168038607]], [[0.0024804205168038607]]], "std": [[[0.02867501601576805]], [[0.02867501601576805]], [[0.02867501601576805]]], "count": [2542]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49276262521743774]], [[0.49276262521743774]], [[0.49276262521743774]]], "std": [[[0.22273489832878113]], [[0.22273489832878113]], [[0.22273489832878113]]], "count": [2542]}}}
+{"episode_index": 2, "stats": {"observation.state": {"min": [1.050000548362732, -0.9201828837394714, -0.22463542222976685, 1.1571483612060547, -0.1965935379266739, -0.7699995040893555, 0.4289488196372986, 0.006859763991087675, -0.00018754276970867068, -0.2669200301170349, 0.00016364491602871567, 0.00350379035808146, 0.0036647485103458166, -0.09357264637947083, 0.003521518548950553, 0.0008558061672374606, 0.00017785294039640576, -0.09216920286417007, 0.0068487366661429405, 0.0008495982619933784, -0.003154004691168666, -0.026910966262221336, 0.002696805167943239, 0.0008358521736226976, 0.005734927020967007, -0.002984491875395179, 0.004997050389647484, 0.00579781224951148, 0.0008487114100717008, 0.9726335406303406, -1.10686194896698, -0.24251589179039001, 0.9920549988746643, -1.6448390483856201, -0.7784315943717957, -0.3652414381504059, 0.005430789664387703, -0.07251257449388504, -0.24812813103199005, -0.14832651615142822, 0.0032545325811952353, 0.0053267525508999825, -0.1250707507133484, 0.0035771846305578947, 0.0008722128113731742, 0.003575699869543314, -0.11808762699365616, 0.0033722473308444023, 0.0008686654036864638, -0.0018548202933743596, -0.15036208927631378, 0.0037250376772135496, 0.0008380693034268916, 0.006639371160417795, -0.0018052668310701847, -0.1660921722650528, 0.003222976578399539, 0.000828313990496099, 0.5625874400138855, -1.1069588661193848, 0.543796181678772, -0.0012463594321161509, -9.58738019107841e-05, 0.0, -0.7985329031944275], "max": [1.2231431007385254, -0.6535390615463257, -2.396844820395927e-07, 1.56999933719635, 0.04525734856724739, 0.05136115103960037, 0.5973551273345947, 1.3730396032333374, 0.28873342275619507, -0.003505486296489835, 0.25254541635513306, 0.5511938333511353, 0.6328883171081543, 0.09821276366710663, 0.04541134834289551, 0.04541005194187164, 0.656199038028717, 0.17135025560855865, 0.08160796761512756, 0.05491837114095688, 0.29716822504997253, 0.16288591921329498, 0.03399017080664635, 0.031737107783555984, 0.24898125231266022, 0.4888896048069, 0.2586921453475952, 0.09630672633647919, 0.05937876179814339, 1.474632978439331, -0.23569321632385254, -0.0005700895562767982, 1.8027483224868774, 0.23140782117843628, 0.019995559006929398, 0.6981700658798218, 1.3798058032989502, 0.24347205460071564, 0.27206745743751526, 0.2378024011850357, 0.5556546449661255, 1.0406951904296875, 0.10496429353952408, 0.7028830051422119, 0.23357434570789337, 1.2990031242370605, 0.21791255474090576, 1.4206831455230713, 0.7193494439125061, 1.436399221420288, 0.2582910656929016, 1.5421963930130005, 1.0538287162780762, 0.24194906651973724, 1.3918558359146118, 0.2735383212566376, 1.4698907136917114, 1.308188796043396, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.15627428889274597, -0.5763933062553406], "mean": [1.168669581413269, -0.7136472463607788, -0.22207599878311157, 1.24574875831604, -0.0394468680024147, -0.09926945716142654, 0.47970646619796753, 1.3313202857971191, 0.2776086926460266, -0.22436581552028656, 0.22278088331222534, 0.5288287997245789, 0.5392751097679138, 0.07404457777738571, 0.04318389669060707, 0.04138043895363808, 0.37298154830932617, 0.13110074400901794, 0.05638411268591881, 0.03797053545713425, 0.10670030117034912, 0.1331929862499237, 0.01343141682446003, 0.012257644906640053, 0.1765591949224472, 0.19250714778900146, 0.2074545919895172, 0.03531264141201973, 0.02703404426574707, 1.2568055391311646, -0.5916116833686829, -0.2198176383972168, 1.2885041236877441, -1.3158049583435059, -0.29077592492103577, -0.05302359163761139, 1.2414121627807617, 0.04784278944134712, 0.035370513796806335, -0.0006254477193579078, 0.1723291575908661, 0.7954244613647461, 0.048554617911577225, 0.3041560649871826, 0.11062518507242203, 1.1485464572906494, -0.05716639384627342, 1.288642168045044, 0.48786354064941406, 1.338712215423584, -0.1052136942744255, 1.429551124572754, 0.9019986391067505, 0.03932533040642738, 1.2739272117614746, -0.12246019393205643, 1.048854947090149, 1.2477160692214966, 0.5626999139785767, -1.1068551540374756, 0.5440444946289062, -0.0007411395199596882, 7.57596225753332e-08, 0.09792879968881607, -0.6962820887565613], "std": [0.04208742082118988, 0.04642258957028389, 0.019611382856965065, 0.07480915635824203, 0.05054917559027672, 0.1433364599943161, 0.033549245446920395, 0.13182933628559113, 0.028020132333040237, 0.02972957119345665, 0.026370307430624962, 0.05745425075292587, 0.09558024257421494, 0.025799009948968887, 0.006239042151719332, 0.006251832470297813, 0.1963472068309784, 0.0402827151119709, 0.019394651055336, 0.012789733707904816, 0.12680551409721375, 0.03499330207705498, 0.01443194318562746, 0.01373463124036789, 0.0885203555226326, 0.1993308663368225, 0.05349263548851013, 0.03468373790383339, 0.02161588706076145, 0.1223871260881424, 0.18949943780899048, 0.023382682353258133, 0.21338553726673126, 0.29990634322166443, 0.14832256734371185, 0.18460841476917267, 0.1473621129989624, 0.07043853402137756, 0.1442425400018692, 0.06033768504858017, 0.12198509275913239, 0.1684381663799286, 0.030543509870767593, 0.13658641278743744, 0.04938727989792824, 0.20790337026119232, 0.03184717521071434, 0.26784414052963257, 0.119272381067276, 0.26559051871299744, 0.044870778918266296, 0.30332687497138977, 0.1987207531929016, 0.025497352704405785, 0.25887036323547363, 0.05190281942486763, 0.2516702711582184, 0.2656332850456238, 3.0319075449369848e-05, 3.897084388881922e-05, 6.684771506115794e-05, 0.00022349852952174842, 3.810611815424636e-06, 0.025190340355038643, 0.050123874098062515], "count": [2531]}, "observation.state.joint_torque": {"min": [-30.47249984741211, -5.61899995803833, -15.911999702453613, -6.7870001792907715, -0.4936000108718872, -0.6880000233650208, 1.0640000104904175, -0.6545931100845337, -0.31456127762794495, -0.4001460373401642, -0.306944340467453, -0.12451920658349991, -0.7215170860290527, -0.5161917805671692, -0.09297433495521545, -0.039242662489414215, -0.3626774847507477, -0.6188544631004333, -0.13116022944450378, -0.033534638583660126, -0.4048939049243927, -0.7311117649078369, -0.09629485011100769, -0.03710215538740158, -0.11170948296785355, -0.442313015460968, -0.655314028263092, -0.11289741843938828, -0.033534638583660126, 12.288000106811523, -5.689499855041504, 3.7809998989105225, -7.931000232696533, -2.0432000160217285, -2.286400079727173, -4.153600215911865, -1.1066954135894775, -0.8303399085998535, -0.7642541527748108, -0.6996342539787292, -0.18262816965579987, -0.41256964206695557, -0.9815319180488586, -0.2673012316226959, -0.05850724130868912, -1.2098844051361084, -1.1235326528549194, -0.6026729345321655, -0.07491781562566757, -1.2674522399902344, -0.28016355633735657, -0.6906664967536926, -0.09489589184522629, -0.17899905145168304, -1.128329873085022, -0.5027592778205872, -0.5860704183578491, -0.13627907633781433, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.47450065612793, 8.5649995803833, -10.767999649047852, 2.01200008392334, 1.5880000591278076, 1.4528000354766846, 2.737600088119507, 0.7246371507644653, 0.2547054886817932, 0.33676886558532715, 0.36410802602767944, 0.0979551151394844, 0.38474518060684204, 0.3789883852005005, 0.048147425055503845, 0.021405089646577835, 0.3223799765110016, 0.2983933687210083, 0.11123716086149216, 0.012843053787946701, 0.37994784116744995, 0.3550017774105072, 0.11621791869401932, 0.01855107769370079, 0.06289155781269073, 0.34444764256477356, 0.35692068934440613, 0.1062563955783844, 0.022118592634797096, 37.60049819946289, 9.601499557495117, 19.29400062561035, 2.553999900817871, 0.5687999725341797, 3.1823999881744385, 0.9071999788284302, 2.3445639610290527, 3.5938947200775146, 2.170978546142578, 1.4527040719985962, 0.5960319638252258, 2.1472809314727783, 0.8894233703613281, 1.0575830936431885, 0.21405088901519775, 0.6485978364944458, 0.35116392374038696, 0.2025512456893921, 0.02425910159945488, 0.7541388869285583, 0.3722721338272095, 0.12949997186660767, 0.03139413148164749, 0.14337515830993652, 0.8500853180885315, 0.5382594466209412, 0.1776474118232727, 0.04209667816758156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.72328758239746, 2.3187108039855957, -13.630910873413086, -1.9399747848510742, -0.03974795341491699, -0.0368427149951458, 1.7330751419067383, -0.00046241810196079314, -0.002765937941148877, 0.018333489075303078, 0.011281854473054409, 0.0015330006135627627, 0.0017396025359630585, 0.011778479442000389, -1.8366918084211648e-05, -3.439230931689963e-05, 0.0051536536775529385, 0.005112717859447002, 0.001676660613156855, -7.63952630222775e-05, 0.017131224274635315, 0.02247331105172634, 0.00016071210848167539, -0.002687405562028289, -0.0015326128341257572, 0.011728466488420963, 0.010401709005236626, -0.0003109286190010607, 0.0003845200699288398, 27.85917091369629, 0.4303135871887207, 12.908517837524414, -1.9097819328308105, -0.5024593472480774, 1.5380640029907227, -0.974001407623291, 0.2700749635696411, 0.8751373887062073, 0.23799245059490204, 0.08781608939170837, 0.08001305162906647, 0.646371066570282, -0.08304876834154129, 0.2566378116607666, 0.07879515737295151, -0.11655008047819138, -0.11772584170103073, 0.003725903108716011, -0.0004186306323390454, 0.012574627064168453, 0.008774629794061184, -0.0030659944750368595, -0.0002444128622300923, -0.0002378831704845652, -0.0002941720013041049, 0.013381721451878548, -0.012980303727090359, 0.003007082035765052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6786307692527771, 0.8488982915878296, 0.5173642039299011, 0.6853414177894592, 0.25675898790359497, 0.3390941023826599, 0.16925452649593353, 0.044338058680295944, 0.02734305150806904, 0.0699319839477539, 0.0665106251835823, 0.010752132162451744, 0.06478425860404968, 0.0609162300825119, 0.007018268574029207, 0.004170436877757311, 0.06567580252885818, 0.054682545363903046, 0.018937796354293823, 0.004082458559423685, 0.05456225201487541, 0.07909167557954788, 0.007379028480499983, 0.0070396834053099155, 0.010914359241724014, 0.03760865330696106, 0.07073555141687393, 0.01063412893563509, 0.006361551582813263, 4.300731182098389, 2.1581075191497803, 1.2969944477081299, 1.858254075050354, 0.33619898557662964, 0.5407273173332214, 0.4364205300807953, 0.5991917252540588, 1.0390924215316772, 0.42310476303100586, 0.2554927468299866, 0.11182794719934464, 0.8120738863945007, 0.24337269365787506, 0.3072240352630615, 0.08842562139034271, 0.2137923240661621, 0.18466126918792725, 0.030693069100379944, 0.009148063138127327, 0.06704844534397125, 0.06273844093084335, 0.026662511751055717, 0.00973990373313427, 0.018649514764547348, 0.11006847769021988, 0.0970960184931755, 0.03504089638590813, 0.006444237660616636, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2531]}, "observation.state.tcp": {"min": [0.36170560121536255, 0.19236822426319122, 0.9702156782150269, -1.208855152130127, 1.217840313911438, -1.6145641803741455, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24157661199569702, -0.3055054545402527, 0.9608372449874878, -0.5960659384727478, 1.1699331998825073, 0.45050767064094543, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4130045473575592, 0.2610541880130768, 1.0554958581924438, -0.8692174553871155, 1.7323250770568848, -1.1964845657348633, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47154390811920166, -0.027619898319244385, 1.1536731719970703, 1.2084546089172363, 1.9648913145065308, 1.5617178678512573, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39853793382644653, 0.2193727195262909, 1.0107452869415283, -1.0425939559936523, 1.6032737493515015, -1.5270570516586304, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4009128510951996, -0.14017346501350403, 1.0527795553207397, -0.19150260090827942, 1.769146203994751, 0.6729345321655273, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.009033589623868465, 0.012412991374731064, 0.02164403349161148, 0.06336328387260437, 0.09257248044013977, 0.09044352918863297, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06072700023651123, 0.05884464457631111, 0.05140966176986694, 0.27912628650665283, 0.1381223052740097, 0.1760907620191574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2531]}, "action": {"min": [1.0499999523162842, -0.920748233795166, -0.22463232278823853, 1.1571195125579834, -0.1967807561159134, -0.7699999809265137, 0.428925484418869, 0.0, 0.0, -0.269103080034256, 0.0, 0.0, 0.0, -0.09439564496278763, 0.0, 0.0, 0.0, -0.0991227775812149, 0.0, 0.0, 0.0, -0.059281960129737854, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9726399183273315, -1.10690438747406, -0.24253667891025543, 0.9920446276664734, -1.6448255777359009, -0.7784723043441772, -0.3653179705142975, 0.0, -0.07845371216535568, -0.24366828799247742, -0.13006435334682465, 0.0, 0.0, -0.12562410533428192, 0.0, 0.0, 0.0, -0.12188857048749924, 0.0, 0.0, 0.0, -0.15699292719364166, 0.0, 0.0, 0.0, 0.0, -0.17488537728786469, 0.0, 0.0, 0.5626833438873291, -1.1069588661193848, 0.543980598449707, -0.0013352477690204978, -1.6237509044003673e-05, -7.530363610648983e-18, -0.7987595796585083], "max": [1.2231316566467285, -0.6535186767578125, -2.0108373984227734e-18, 1.5700000524520874, 0.04525233805179596, 0.05139439180493355, 0.597454845905304, 1.3863855600357056, 0.28914856910705566, 0.0, 0.2534468173980713, 0.5561313033103943, 0.6416748762130737, 0.09860112518072128, 0.049836665391922, 0.04875883087515831, 0.6627252101898193, 0.1708967089653015, 0.10826443880796432, 0.05893012508749962, 0.30733415484428406, 0.16846559941768646, 0.040361709892749786, 0.03643452003598213, 0.26180002093315125, 0.49446284770965576, 0.2598978877067566, 0.12335266172885895, 0.061797112226486206, 1.4746264219284058, -0.23565800487995148, -0.0020127124153077602, 1.802801251411438, 0.23254403471946716, 0.020037062466144562, 0.7276269197463989, 1.372016191482544, 0.25547149777412415, 0.27343884110450745, 0.24307334423065186, 0.5600067377090454, 1.04434072971344, 0.10941221565008163, 0.7087011337280273, 0.23603223264217377, 1.306857705116272, 0.2200428545475006, 1.4253082275390625, 0.719955563545227, 1.4411101341247559, 0.26556941866874695, 1.5482614040374756, 1.05514395236969, 0.26180002093315125, 1.3948783874511719, 0.28002557158470154, 1.4721044301986694, 1.461821436882019, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 5.053177861191969e-20, 1.4875427041260991e-05, 0.15661682188510895, -0.5751288533210754], "mean": [1.1687211990356445, -0.7137215733528137, -0.22207720577716827, 1.2458182573318481, -0.03949878364801407, -0.0994543507695198, 0.47974032163619995, 1.3376821279525757, 0.2803531885147095, -0.22375068068504333, 0.22381123900413513, 0.5341379642486572, 0.5425885915756226, 0.0763838142156601, 0.04457639530301094, 0.04350589960813522, 0.3779173493385315, 0.13311992585659027, 0.059590332210063934, 0.04116767644882202, 0.10787992924451828, 0.13801205158233643, 0.01564064994454384, 0.014383220113813877, 0.18143366277217865, 0.19594784080982208, 0.21031171083450317, 0.03881346434354782, 0.02961871773004532, 1.2575488090515137, -0.5927534699440002, -0.21982480585575104, 1.2892611026763916, -1.31559419631958, -0.2914995551109314, -0.052828531712293625, 1.241503357887268, 0.05089298635721207, 0.0343816913664341, -0.0009132580016739666, 0.17292265594005585, 0.8014698028564453, 0.04569854587316513, 0.3051391541957855, 0.1156332865357399, 1.1464811563491821, -0.0569586418569088, 1.2886861562728882, 0.48768776655197144, 1.3376790285110474, -0.10367895662784576, 1.428504228591919, 0.9018216133117676, 0.04126379266381264, 1.272086501121521, -0.12229955941438675, 1.0468358993530273, 1.3471193313598633, 0.5627002716064453, -1.106865644454956, 0.5441051721572876, -0.0007850120309740305, -2.8563084697452723e-07, 0.0979752168059349, -0.6963395476341248], "std": [0.042070724070072174, 0.046594057232141495, 0.019655629992485046, 0.07493889331817627, 0.05061003938317299, 0.14359594881534576, 0.03355739265680313, 0.14313319325447083, 0.0316348522901535, 0.03212491422891617, 0.02866663783788681, 0.06161394715309143, 0.09426864236593246, 0.024404441937804222, 0.006592478137463331, 0.006422514095902443, 0.1946588158607483, 0.038824282586574554, 0.01795131526887417, 0.01300870906561613, 0.12768685817718506, 0.03500423952937126, 0.016633842140436172, 0.015026254579424858, 0.09601469337940216, 0.20059338212013245, 0.053665075451135635, 0.034115951508283615, 0.022316135466098785, 0.12236332148313522, 0.19011294841766357, 0.02339908853173256, 0.2137136161327362, 0.30133169889450073, 0.14876434206962585, 0.18530741333961487, 0.15598739683628082, 0.07297729700803757, 0.14421483874320984, 0.06045030802488327, 0.12308080494403839, 0.17434263229370117, 0.02794295735657215, 0.1374514400959015, 0.053927596658468246, 0.20711304247379303, 0.03272565081715584, 0.2681019902229309, 0.11937966197729111, 0.2658442556858063, 0.045050304383039474, 0.3036723732948303, 0.19889870285987854, 0.03058844804763794, 0.25888216495513916, 0.05101284384727478, 0.2519695460796356, 0.28921231627464294, 1.6843376215547323e-05, 6.104450676502893e-06, 3.778153768507764e-05, 0.00021944611216895282, 6.427300832001492e-06, 0.025257285684347153, 0.050188615918159485], "count": [2531]}, "observation.state.tcp_pose": {"min": [0.36170560121536255, 0.19236822426319122, 0.9702156782150269, -1.208855152130127, 1.217840313911438, -1.6145641803741455, 0.24157661199569702, -0.3055054545402527, 0.9608372449874878, -0.5960659384727478, 1.1699331998825073, 0.45050767064094543], "max": [0.4130045473575592, 0.2610541880130768, 1.0554958581924438, -0.8692174553871155, 1.7323250770568848, -1.1964845657348633, 0.47154390811920166, -0.027619898319244385, 1.1536731719970703, 1.2084546089172363, 1.9648913145065308, 1.5617178678512573], "mean": [0.39853793382644653, 0.2193727195262909, 1.0107452869415283, -1.0425939559936523, 1.6032737493515015, -1.5270570516586304, 0.4009128510951996, -0.14017346501350403, 1.0527795553207397, -0.19150260090827942, 1.769146203994751, 0.6729345321655273], "std": [0.009033589623868465, 0.012412991374731064, 0.02164403349161148, 0.06336328387260437, 0.09257248044013977, 0.09044352918863297, 0.06072700023651123, 0.05884464457631111, 0.05140966176986694, 0.27912628650665283, 0.1381223052740097, 0.1760907620191574], "count": [2531]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.1924280971288681, 0.9699528217315674, -1.208855390548706, 1.2178406715393066, -1.6145861148834229, 0.24167588353157043, -0.31517818570137024, 0.9608426094055176, -0.5962766408920288, 1.1558208465576172, 0.4504617750644684], "max": [0.4129398465156555, 0.26108381152153015, 1.0554381608963013, -0.8696097135543823, 1.7323096990585327, -1.1964795589447021, 0.4715312421321869, -0.027608508244156837, 1.1536813974380493, 1.2082271575927734, 1.9647756814956665, 1.560627818107605], "mean": [0.3985479474067688, 0.2194014936685562, 1.010744333267212, -1.0425639152526855, 1.6031510829925537, -1.5269356966018677, 0.4009539484977722, -0.14056874811649323, 1.0532259941101074, -0.19096507132053375, 1.7671886682510376, 0.6729456186294556], "std": [0.009033482521772385, 0.012450408190488815, 0.02166171185672283, 0.06335007399320602, 0.09277454018592834, 0.090570367872715, 0.06071947142481804, 0.05916189029812813, 0.05157650262117386, 0.28022444248199463, 0.1401609480381012, 0.1765526682138443], "count": [2531]}, "subtask_index": {"min": [54], "max": [160], "mean": [130.38522323192413], "std": [19.854343243077487], "count": [2531]}, "observation.tactile": {"min": [-0.014879860915243626, -4.254912710166536e-05, -9.28049412323162e-05, -0.0017004588153213263, -9.738668450154364e-05, -0.0003020151343662292, -0.006701619829982519, -4.6617002226412296e-05, -0.00010789427324198186, -0.0006074021221138537, -5.971116843284108e-05, -0.00015242239169310778, -0.007978890091180801, -4.783440090250224e-05, -0.00010681900312192738, -0.0015071308007463813, -4.525495023699477e-05, -0.0001913238811539486, -0.01876148208975792, -3.4459684684406966e-05, -7.415804429911077e-05, -0.0015490726800635457, -2.6784387955558486e-05, -0.00038947651046328247, -0.023027485236525536, -4.249361882102676e-05, -9.560999751556665e-05, -0.001475002383813262, -2.7348169169272296e-05, -0.0004742351302411407, -0.40530267357826233, -3.583641955628991e-05, -8.250055543612689e-05, -0.16856271028518677, -0.010664157569408417, -0.02159726992249489, -4.691895484924316, -0.7369974255561829, -9.993265848606825e-05, -0.23046453297138214, -0.029609160497784615, -0.0846465677022934, -0.01632668636739254, -4.849474862567149e-05, -0.00010680381092242897, -0.0011572128860279918, -3.1110885174712166e-05, -0.00037678482476621866, -0.010231979191303253, -5.2747094741789624e-05, -0.00011765625094994903, -0.0010665204608812928, -4.565172639559023e-05, -0.0002367322304053232, -0.08806632459163666, -4.518742207437754e-05, -0.00010091123112943023, -0.0013432266423478723, -6.911262607900426e-05, -0.0010699104750528932], "max": [0.0035356327425688505, 0.0333922915160656, 0.09674012660980225, 1.7361246591462987e-06, 0.00031762171420268714, 6.923954515514197e-06, 0.003859357675537467, 0.010927832685410976, 0.03255767002701759, 1.8516918771638302e-06, 0.00018361223919782788, 1.3413870874501299e-05, 0.03464753180742264, 0.02519037574529648, 0.08170212805271149, 2.011240439969697e-06, 0.0004481566429603845, 0.0004841617774218321, 0.0044164941646158695, 0.02749304287135601, 0.0836721807718277, 1.3922042398917256e-06, 0.00027117482386529446, 2.5782979719224386e-05, 0.004946521949023008, 0.02606922760605812, 0.07443682104349136, 1.7820606217355817e-06, 0.00017202759045176208, 3.2069037843029946e-05, 3.963998794555664, 5.9950337409973145, 9.706719398498535, 1.5189953046501614e-06, 0.02021687477827072, 0.0652557834982872, 1.1877189874649048, 8.632699012756348, 13.096566200256348, 1.8993609955941793e-06, 0.012945103459060192, 0.04991472512483597, 0.008119272068142891, 0.02011633664369583, 0.056718066334724426, 1.9622630134108476e-06, 0.00020026034326292574, 0.000102846315712668, 0.0013793607940897346, 0.01930951327085495, 0.05740318074822426, 2.1810444650327554e-06, 0.00011821354564744979, 8.732704372960143e-06, 0.0023945942521095276, 0.021256033331155777, 0.061726201325654984, 1.8870940721171792e-06, 0.0001827949599828571, 2.2096279280958697e-05], "mean": [-0.001084697199985385, 0.0032577707897871733, 0.009629480540752411, -0.0001636925881030038, 1.3855895304004662e-05, -2.2448331947089173e-05, 0.00020775165467057377, 0.0002436476352158934, 0.0007468432304449379, -1.2707498171948828e-05, 4.252301550877746e-07, 3.5510331599653e-06, 0.0007980683003552258, 0.0011650925735011697, 0.003588371677324176, -6.383831350831315e-05, 1.5824267393327318e-05, 9.344514182885177e-06, -0.0008866339339874685, 0.0017673211405053735, 0.005184514448046684, -9.507170761935413e-05, 1.007910668704426e-05, -1.945981421158649e-05, -0.0020540787372738123, 0.0032581768464297056, 0.009660742245614529, -0.00017138509429059923, 1.5052750313770957e-05, -4.1472176235402e-05, 0.9577764868736267, 1.6082735061645508, 3.0295968055725098, -0.05214351415634155, 0.0019262895220890641, 0.016050558537244797, -1.3750168085098267, 0.47518831491470337, 3.5057051181793213, -0.055276334285736084, -0.0038602675776928663, -0.020985553041100502, -9.876371223072056e-06, 0.002478762064129114, 0.007383911870419979, -0.00012617840548045933, 2.2493290089187212e-05, -8.344082743860781e-06, -0.0002770014980342239, 0.002022799104452133, 0.006020934786647558, -8.987524779513478e-05, 1.6617024812148884e-05, -1.0565702723397408e-05, -0.000647421577014029, 0.0021611787378787994, 0.0062647173181176186, -0.0001352539984509349, 2.7235378183831926e-06, -1.5186475138762034e-05], "std": [0.002080464968457818, 0.0049467263743281364, 0.014331447891891003, 0.00028569993446581066, 3.408739939914085e-05, 4.5207238144939765e-05, 0.000403383543016389, 0.0009548228117637336, 0.0028267221059650183, 4.943391468259506e-05, 1.3116566151438747e-05, 8.638391591375694e-06, 0.002678200136870146, 0.003113485872745514, 0.009611834771931171, 0.0001746706839185208, 5.1773040468106046e-05, 3.535215728334151e-05, 0.002806115662679076, 0.004006169270724058, 0.011695994064211845, 0.00021946193010080606, 2.632700307003688e-05, 5.7432029279880226e-05, 0.003177184611558914, 0.004270820878446102, 0.012640146538615227, 0.00023106439039111137, 2.216772918472998e-05, 6.383629806805402e-05, 1.0363101959228516, 1.692786693572998, 2.9282143115997314, 0.05011625587940216, 0.005275247152894735, 0.01771729253232479, 1.3759697675704956, 0.6568142175674438, 3.5349087715148926, 0.057774338871240616, 0.005519097670912743, 0.021922286599874496, 0.001557244686409831, 0.0032932492904365063, 0.009702564217150211, 0.00017430042498745024, 3.3238105970667675e-05, 2.914363176387269e-05, 0.0013833075063303113, 0.002563157118856907, 0.007543789688497782, 0.00014479857054539025, 1.8218621335108764e-05, 2.9722450562985614e-05, 0.002255545463413, 0.00346413254737854, 0.010006405413150787, 0.00021789965103380382, 2.0050536477356218e-05, 3.76369061996229e-05], "count": [2531]}, "timestamp": {"min": [0.0], "max": [84.33333333333333], "mean": [42.166666666666664], "std": [24.354556954386265], "count": [2531]}, "frame_index": {"min": [0], "max": [2530], "mean": [1265.0], "std": [730.636708631588], "count": [2531]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2531]}, "index": {"min": [5346], "max": [7876], "mean": [6611.0], "std": [730.636708631588], "count": [2531]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2531]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5573276281356812]], [[0.5574038028717041]], [[0.5582472085952759]]], "std": [[[0.29892420768737793]], [[0.2987397611141205]], [[0.29946228861808777]]], "count": [2531]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30059441924095154]], [[0.30524131655693054]], [[0.30422326922416687]]], "std": [[[0.1802861988544464]], [[0.18135978281497955]], [[0.18230946362018585]]], "count": [2531]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30994856357574463]], [[0.3133211135864258]], [[0.31014978885650635]]], "std": [[[0.18416859209537506]], [[0.18373152613639832]], [[0.18303537368774414]]], "count": [2531]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5603249669075012]], [[0.5605566501617432]], [[0.5610896944999695]]], "std": [[[0.30295780301094055]], [[0.30255112051963806]], [[0.3034515082836151]]], "count": [2531]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7372549176216125]], [[0.7372549176216125]], [[0.7372549176216125]]], "mean": [[[0.0024073857348412275]], [[0.0024073857348412275]], [[0.0024073857348412275]]], "std": [[[0.028857817873358727]], [[0.028857817873358727]], [[0.028857817873358727]]], "count": [2531]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4929143786430359]], [[0.4929143786430359]], [[0.4929143786430359]]], "std": [[[0.2227945774793625]], [[0.2227945774793625]], [[0.2227945774793625]]], "count": [2531]}}}
+{"episode_index": 3, "stats": {"observation.state": {"min": [1.0499998331069946, -0.8964421153068542, -0.22434791922569275, 1.123213529586792, -0.20588095486164093, -0.7699997425079346, 0.3059287369251251, 0.006715764291584492, -0.0007760076550766826, -0.2564564049243927, 0.00013637085794471204, 0.0035275460686534643, 0.003645614255219698, -0.08749890327453613, 0.0034913807176053524, 0.0008478245581500232, -0.0013784213224425912, -0.07708703726530075, 0.006855473387986422, 0.0008096902165561914, -0.0032955508213490248, -0.02695806883275509, 0.0026737586595118046, 0.0008331916178576648, 0.00540740042924881, -0.0028880839236080647, 0.0043793488293886185, 0.0022677842061966658, 0.0008531456696800888, 1.0106412172317505, -1.173642635345459, -0.24247945845127106, 1.0045958757400513, -1.6615673303604126, -0.7987755537033081, -0.3491367995738983, 0.005561057943850756, -0.11044678837060928, -0.227865532040596, -0.11007242649793625, 0.003343527903780341, 0.0052345143631100655, -0.07124831527471542, 0.0035810850095003843, 0.0008198888972401619, 0.003529089968651533, -0.10166237503290176, 0.004408280365169048, 0.0008828549762256444, -0.0015010763891041279, -0.14236855506896973, 0.0038789177779108286, 0.0013355897972360253, 0.006550532300025225, -0.0022961334325373173, -0.16683648526668549, 0.0032009936403483152, 0.0008478245581500232, 0.5624915957450867, -1.1070547103881836, 0.543796181678772, -0.002013349672779441, 0.0, -9.58738019107841e-05, -0.8187622427940369], "max": [1.2486763000488281, -0.6433266401290894, -0.0, 1.5699998140335083, 0.10858043283224106, 0.1068030521273613, 0.562472403049469, 1.3363556861877441, 0.2956513464450836, 0.00037274666829034686, 0.2484647035598755, 0.5074833631515503, 0.6761221885681152, 0.07486618310213089, 0.053320229053497314, 0.0500367246568203, 0.3222140669822693, 0.137330561876297, 0.04570315405726433, 0.0361243337392807, 0.11850588023662567, 0.1502210795879364, 0.015043394640088081, 0.01779278740286827, 0.24921350181102753, 0.22774381935596466, 0.2689855396747589, 0.05980021879076958, 0.03625159338116646, 1.4127787351608276, -0.3021456003189087, -0.00018371816258877516, 1.8590612411499023, 0.11930739134550095, -0.05356648936867714, 0.6981675028800964, 1.3636448383331299, 0.26850974559783936, 0.2907659709453583, 0.18379901349544525, 0.4745841920375824, 0.9744448661804199, 0.0941886156797409, 0.7828003764152527, 0.46813884377479553, 1.4186465740203857, 0.2123977243900299, 1.4123016595840454, 0.7223851084709167, 1.4009164571762085, 0.2251574546098709, 1.568406343460083, 1.0838333368301392, 0.10948915034532547, 1.3347184658050537, 0.2184002846479416, 1.4441572427749634, 1.3081657886505127, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 0.0, 0.14649516344070435, -0.5785983800888062], "mean": [1.1946614980697632, -0.7220638394355774, -0.22173793613910675, 1.247239351272583, -0.014703739434480667, -0.013020946644246578, 0.3901325464248657, 1.2652239799499512, 0.28258615732192993, -0.18334969878196716, 0.23049910366535187, 0.4830516576766968, 0.6037644147872925, 0.06342048197984695, 0.044381655752658844, 0.04690120369195938, 0.2955179512500763, 0.12331757694482803, 0.04211452230811119, 0.03417957201600075, 0.09844818711280823, 0.12727311253547668, 0.013886130414903164, 0.015191609971225262, 0.2068832963705063, 0.19241978228092194, 0.23567494750022888, 0.03798196464776993, 0.03158697113394737, 1.230974793434143, -0.6167865991592407, -0.2234235554933548, 1.3029394149780273, -1.2744178771972656, -0.3301229178905487, -0.004502998199313879, 1.2318867444992065, 0.05614462494850159, 0.006358050741255283, -0.0014786222018301487, 0.17362269759178162, 0.7790307998657227, 0.04975689575076103, 0.3065800368785858, 0.14577968418598175, 1.1574209928512573, -0.05713079869747162, 1.2739324569702148, 0.4788842797279358, 1.3124785423278809, -0.10373694449663162, 1.4069924354553223, 0.8111730217933655, 0.025375980883836746, 1.1953593492507935, -0.12098613381385803, 0.9726228713989258, 1.2465412616729736, 0.5626935362815857, -1.1068572998046875, 0.5440127849578857, -0.001105821575038135, 0.0, 0.10439404845237732, -0.7456021904945374], "std": [0.04435237869620323, 0.05696512758731842, 0.019448796287178993, 0.08647231012582779, 0.057868797332048416, 0.12742306292057037, 0.04727388173341751, 0.13762594759464264, 0.033652059733867645, 0.03813919797539711, 0.028191035613417625, 0.058228325098752975, 0.09588302671909332, 0.019877197220921516, 0.006407848559319973, 0.006766434758901596, 0.055000025779008865, 0.028679952025413513, 0.00739265838637948, 0.006031819619238377, 0.020927999168634415, 0.027718964964151382, 0.0022326018661260605, 0.0030669604893773794, 0.05008396878838539, 0.04242553189396858, 0.0411321185529232, 0.007118110079318285, 0.006440551020205021, 0.10103852301836014, 0.17110741138458252, 0.022654687985777855, 0.21560774743556976, 0.3190695345401764, 0.13304895162582397, 0.19900886714458466, 0.14950434863567352, 0.06911516189575195, 0.11806894093751907, 0.06386400759220123, 0.09980585426092148, 0.16652782261371613, 0.027398763224482536, 0.1567244529724121, 0.10287931561470032, 0.21110723912715912, 0.03424529358744621, 0.2713858187198639, 0.11701194941997528, 0.2588077485561371, 0.04888327419757843, 0.30521976947784424, 0.21155762672424316, 0.008141746744513512, 0.2414700984954834, 0.05362151190638542, 0.24658049643039703, 0.26738715171813965, 3.484825720079243e-05, 4.983664257451892e-05, 7.615859067300335e-05, 0.0003322745906189084, 0.0, 0.02385827712714672, 0.046966005116701126], "count": [2493]}, "observation.state.joint_torque": {"min": [-42.069000244140625, -5.557499885559082, -21.982999801635742, -6.956999778747559, -0.6327999830245972, -0.8672000169754028, 1.0360000133514404, -0.5399757027626038, -0.7424665093421936, -0.528143048286438, -0.374049574136734, -0.13614100217819214, -0.5612865686416626, -0.5190701484680176, -0.09961536526679993, -0.038529157638549805, -0.5027592778205872, -0.5248270034790039, -0.12451920658349991, -0.033534638583660126, -0.260974258184433, -0.5564892888069153, -0.08965382725000381, -0.032821137458086014, -0.11830649524927139, -0.31662318110466003, -0.4087317883968353, -0.12783971428871155, -0.03139413148164749, 3.671999931335449, -4.636499881744385, -6.547999858856201, -8.532999992370605, -1.940000057220459, -6.555200099945068, -3.0536000728607178, -1.0748571157455444, -1.1296188831329346, -0.33676889538764954, -0.917104959487915, -0.15274357795715332, -0.4240832030773163, -1.0314240455627441, -0.12119869887828827, -0.05993425101041794, -1.2319520711898804, -1.0458159446716309, -0.12451920658349991, -0.03068062849342823, -0.2887987196445465, -0.3290962278842926, -0.12119869887828827, -0.032821137458086014, -0.12754231691360474, -0.4164074659347534, -0.521948516368866, -0.10957689583301544, -0.028540121391415596, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.445999145507812, 17.084999084472656, -9.949000358581543, 5.73199987411499, 1.6904000043869019, 1.9199999570846558, 3.469599962234497, 0.5106845498085022, 0.30055248737335205, 0.3802630305290222, 0.35913729667663574, 0.07637178897857666, 0.48644837737083435, 0.29263657331466675, 0.10127562284469604, 0.015697065740823746, 0.36843428015708923, 0.3693937361240387, 0.12285894900560379, 0.012843053787946701, 0.31854212284088135, 0.3530828654766083, 0.11289741843938828, 0.015697065740823746, 0.06553036719560623, 0.21108213067054749, 0.33293408155441284, 0.08965382725000381, 0.014270060695707798, 52.196998596191406, 15.770999908447266, 24.698999404907227, 5.53000020980835, 0.4359999895095825, 4.037600040435791, 3.624000072479248, 2.469369888305664, 4.1058526039123535, 2.1684932708740234, 1.0736838579177856, 0.5362627506256104, 2.1472811698913574, 1.0486944913864136, 1.0609036684036255, 0.21476440131664276, 0.6697060465812683, 0.3454071283340454, 0.2722820043563843, 0.02925362065434456, 1.571602463722229, 0.2983933687210083, 0.25899994373321533, 0.04709119349718094, 0.1266627162694931, 1.2645738124847412, 0.46246179938316345, 0.254019170999527, 0.052085720002651215, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.905529022216797, 2.1661243438720703, -13.85608959197998, -1.7657761573791504, -0.2053837925195694, -0.12539111077785492, 1.7253766059875488, -5.2619245252572e-05, 0.00012721236271318048, 0.017195792868733406, 0.007188469637185335, 0.0016689181793481112, 0.014515881426632404, 0.0082425931468606, 0.0005607447819784284, 0.0002799055364448577, 0.0021767839789390564, -0.00019781952141784132, 0.0005021407851018012, -6.611243588849902e-05, 0.020983515307307243, 0.018084771931171417, 0.0009030522196553648, 6.182018114486709e-05, -0.004529617726802826, 0.010034089908003807, 7.389034726656973e-05, -0.001888682716526091, -0.0002092141512548551, 27.09238624572754, 0.7873900532722473, 12.668269157409668, -2.1822710037231445, -0.5056506991386414, 1.461398959159851, -1.0396062135696411, 0.3252006769180298, 0.9390851259231567, 0.2769303321838379, 0.050770897418260574, 0.08269048482179642, 0.7153234481811523, -0.16047096252441406, 0.27244532108306885, 0.0746261477470398, -0.12143833935260773, -0.11913611739873886, -0.0017974450020119548, -0.0013196785002946854, 0.008958466351032257, -0.001054907450452447, -0.004977450240403414, -0.002137359930202365, -0.00013901146303396672, -0.013738077133893967, 0.007791944779455662, -0.01211661659181118, 0.0030168613884598017, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.8209911584854126, 0.9127521514892578, 0.6326822638511658, 0.6720584630966187, 0.23326058685779572, 0.36304861307144165, 0.17596721649169922, 0.0415370836853981, 0.03145976737141609, 0.0667523518204689, 0.0649733617901802, 0.008741955272853374, 0.07254676520824432, 0.060707565397024155, 0.00894553866237402, 0.00402274914085865, 0.047759659588336945, 0.05463729798793793, 0.01008217129856348, 0.003256094641983509, 0.05485231429338455, 0.07068932056427002, 0.008976582437753677, 0.004278040956705809, 0.015911120921373367, 0.03791405260562897, 0.06550858914852142, 0.0094352588057518, 0.004239026922732592, 4.508191108703613, 2.0611393451690674, 1.7665361166000366, 1.8682254552841187, 0.3661535978317261, 0.7215809226036072, 0.5234001278877258, 0.6362414360046387, 1.1698472499847412, 0.4273860454559326, 0.2429281771183014, 0.11217880249023438, 0.8128403425216675, 0.3211904466152191, 0.3173271715641022, 0.08475333452224731, 0.24026601016521454, 0.2018735110759735, 0.020324625074863434, 0.00857867393642664, 0.06442107260227203, 0.05785965174436569, 0.016751062124967575, 0.008619098924100399, 0.017873885110020638, 0.11295484006404877, 0.09646142274141312, 0.03544749319553375, 0.005079797934740782, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2493]}, "observation.state.tcp": {"min": [0.3617660105228424, 0.19223719835281372, 0.9713891744613647, -1.224217414855957, 1.2178404331207275, -1.656992793083191, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2411576360464096, -0.2637353539466858, 0.9679964184761047, -0.567116916179657, 1.1588387489318848, 0.4366625249385834, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41601020097732544, 0.2571069300174713, 1.063033103942871, -0.8367773294448853, 1.7785969972610474, -1.2197327613830566, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4742196798324585, -0.044007446616888046, 1.1323362588882446, 1.2086329460144043, 2.0392584800720215, 1.6777875423431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40204426646232605, 0.21915298700332642, 1.018075942993164, -1.0847560167312622, 1.69217050075531, -1.5584932565689087, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3939318358898163, -0.14912156760692596, 1.041876196861267, -0.15136291086673737, 1.7521913051605225, 0.7311466932296753, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008124482817947865, 0.010879061184823513, 0.02212144434452057, 0.0670010894536972, 0.07330597192049026, 0.08092638105154037, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.060803450644016266, 0.053566187620162964, 0.044285472482442856, 0.2887114882469177, 0.15930882096290588, 0.18153241276741028, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2493]}, "action": {"min": [1.0501925945281982, -0.8964328169822693, -0.22434470057487488, 1.123193621635437, -0.20596548914909363, -0.7697651982307434, 0.3059273064136505, 0.0, 0.0, -0.25865572690963745, 0.0, 0.0, 0.0, -0.08697253465652466, 0.0, 0.0, 0.0, -0.0906725600361824, 0.0, 0.0, 0.0, -0.04865938052535057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0106412172317505, -1.1737453937530518, -0.2424648404121399, 1.0046037435531616, -1.6615612506866455, -0.7990220189094543, -0.34916096925735474, 0.0, -0.11410676687955856, -0.23077914118766785, -0.11255118995904922, 0.0, 0.0, -0.0764365866780281, 0.0, 0.0, 0.0, -0.10313732922077179, 0.0, 0.0, 0.0, -0.14761830866336823, 0.0, 0.0, 0.0, 0.0, -0.16698387265205383, 0.0, 0.0, 0.5625874400138855, -1.1069588661193848, 0.5438861846923828, -0.0020421380177140236, -1.4284595636127051e-05, 1.7652158348973494e-19, -0.8190345168113708], "max": [1.2495907545089722, -0.6433357000350952, -0.0002157804847229272, 1.569754719734192, 0.10889196395874023, 0.10680770874023438, 0.5626325607299805, 1.3476380109786987, 0.2926083207130432, 0.0, 0.256013423204422, 0.5162943601608276, 0.684246301651001, 0.07522432506084442, 0.05596034228801727, 0.05429103225469589, 0.33235904574394226, 0.1440482884645462, 0.053050149232149124, 0.03982008993625641, 0.11663058400154114, 0.15842454135417938, 0.022134611383080482, 0.020215904340147972, 0.26180002093315125, 0.23290030658245087, 0.2707017660140991, 0.06493611633777618, 0.03897468373179436, 1.4127706289291382, -0.30210641026496887, -0.0004289258213248104, 1.8591521978378296, 0.11935222148895264, -0.05346829071640968, 0.7179076671600342, 1.3730769157409668, 0.27663901448249817, 0.29654252529144287, 0.1857169270515442, 0.47899767756462097, 1.0476347208023071, 0.08315824717283249, 0.7925132513046265, 0.4814496338367462, 1.4672585725784302, 0.21601778268814087, 1.4183269739151, 0.7247673273086548, 1.4464977979660034, 0.2257634848356247, 1.5726264715194702, 1.0843322277069092, 0.11746467649936676, 1.339368462562561, 0.22149398922920227, 1.4482914209365845, 1.4347665309906006, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -3.3444945785823696e-22, 2.1565159840974957e-05, 0.14658236503601074, -0.578334391117096], "mean": [1.19473135471344, -0.72212153673172, -0.2217559516429901, 1.2472562789916992, -0.014822048135101795, -0.013191720470786095, 0.39018213748931885, 1.2702282667160034, 0.2842198610305786, -0.1818951517343521, 0.2317030131816864, 0.48947033286094666, 0.6055019497871399, 0.06440748274326324, 0.05036068707704544, 0.04972967505455017, 0.2976762056350708, 0.12687921524047852, 0.04624103009700775, 0.03670191764831543, 0.09757081419229507, 0.13257062435150146, 0.019492944702506065, 0.017837876453995705, 0.21614429354667664, 0.19395597279071808, 0.23855265974998474, 0.03878453001379967, 0.03514573723077774, 1.2316213846206665, -0.6174668669700623, -0.223446324467659, 1.3033499717712402, -1.2744814157485962, -0.3306998908519745, -0.004634742625057697, 1.2320832014083862, 0.05903670936822891, 0.005481617990881205, -0.0017087745945900679, 0.17445601522922516, 0.7860856652259827, 0.04557281360030174, 0.3076445162296295, 0.1505197286605835, 1.155411720275879, -0.05687525495886803, 1.2727525234222412, 0.47854354977607727, 1.3108714818954468, -0.10284833610057831, 1.4054020643234253, 0.8107272982597351, 0.030038563534617424, 1.193268060684204, -0.12082342803478241, 0.9705253839492798, 1.320412039756775, 0.5626991391181946, -1.10686457157135, 0.5440515279769897, -0.0011549369664862752, -2.588703580386209e-07, 0.1044239029288292, -0.7456360459327698], "std": [0.0442998930811882, 0.05700165033340454, 0.019368503242731094, 0.08643610775470734, 0.05793053284287453, 0.12790673971176147, 0.047284383326768875, 0.14373362064361572, 0.03300781175494194, 0.03978106006979942, 0.028057189658284187, 0.05748695880174637, 0.09328991919755936, 0.020818522199988365, 0.007169454358518124, 0.006777537986636162, 0.05543599650263786, 0.030274679884314537, 0.00841041374951601, 0.006643348373472691, 0.020558422431349754, 0.029416490346193314, 0.0038977772928774357, 0.0035755254793912172, 0.05791712924838066, 0.04254813864827156, 0.04180273413658142, 0.008035236969590187, 0.007080703042447567, 0.10094134509563446, 0.17178528010845184, 0.022578712552785873, 0.21583081781864166, 0.3201688528060913, 0.1333630234003067, 0.19928942620754242, 0.1574041247367859, 0.07196034491062164, 0.11774635314941406, 0.06450791656970978, 0.10057687014341354, 0.1726667284965515, 0.02481560781598091, 0.1573997437953949, 0.10559967905282974, 0.21216782927513123, 0.034277185797691345, 0.27153703570365906, 0.11724178493022919, 0.25912293791770935, 0.048396624624729156, 0.3057771921157837, 0.21189363300800323, 0.011153955943882465, 0.24126872420310974, 0.05309537053108215, 0.24690932035446167, 0.2857261598110199, 1.6563069948460907e-05, 6.1289924815355334e-06, 5.478766615851782e-05, 0.00033008388709276915, 7.606423423567321e-06, 0.02392112836241722, 0.047089897096157074], "count": [2493]}, "observation.state.tcp_pose": {"min": [0.3617660105228424, 0.19223719835281372, 0.9713891744613647, -1.224217414855957, 1.2178404331207275, -1.656992793083191, 0.2411576360464096, -0.2637353539466858, 0.9679964184761047, -0.567116916179657, 1.1588387489318848, 0.4366625249385834], "max": [0.41601020097732544, 0.2571069300174713, 1.063033103942871, -0.8367773294448853, 1.7785969972610474, -1.2197327613830566, 0.4742196798324585, -0.044007446616888046, 1.1323362588882446, 1.2086329460144043, 2.0392584800720215, 1.6777875423431396], "mean": [0.40204426646232605, 0.21915298700332642, 1.018075942993164, -1.0847560167312622, 1.69217050075531, -1.5584932565689087, 0.3939318358898163, -0.14912156760692596, 1.041876196861267, -0.15136291086673737, 1.7521913051605225, 0.7311466932296753], "std": [0.008124482817947865, 0.010879061184823513, 0.02212144434452057, 0.0670010894536972, 0.07330597192049026, 0.08092638105154037, 0.060803450644016266, 0.053566187620162964, 0.044285472482442856, 0.2887114882469177, 0.15930882096290588, 0.18153241276741028], "count": [2493]}, "action.tcp_pose": {"min": [0.3618163764476776, 0.19243429601192474, 0.9713759422302246, -1.2119574546813965, 1.218023419380188, -1.6578874588012695, 0.24129140377044678, -0.26813778281211853, 0.9680135250091553, -0.5671290755271912, 1.162169098854065, 0.4363611042499542], "max": [0.4155976474285126, 0.25712206959724426, 1.0629756450653076, -0.8381489515304565, 1.7784532308578491, -1.220898151397705, 0.4740900993347168, -0.0439959354698658, 1.1323580741882324, 1.2084912061691284, 2.039476156234741, 1.6771810054779053], "mean": [0.40206754207611084, 0.21918794512748718, 1.0180773735046387, -1.0846328735351562, 1.6920379400253296, -1.558365821838379, 0.394010066986084, -0.14936386048793793, 1.0422272682189941, -0.15107202529907227, 1.7507060766220093, 0.730821967124939], "std": [0.008088275790214539, 0.010861647315323353, 0.02214600145816803, 0.06697342544794083, 0.07372062653303146, 0.0812351405620575, 0.06076381355524063, 0.05382520332932472, 0.04441780596971512, 0.2898307740688324, 0.1609569638967514, 0.18195776641368866], "count": [2493]}, "subtask_index": {"min": [54], "max": [220], "mean": [188.66466105094264], "std": [27.620905543445662], "count": [2493]}, "observation.tactile": {"min": [-0.010628053918480873, -4.2420921090524644e-05, -9.340362885268405e-05, -0.0020730330143123865, -3.3092699595727026e-05, -0.0002184235054301098, -0.0020351186394691467, -5.086726741865277e-05, -0.00011645403719739988, -0.0004170372849330306, -1.1450574675109237e-05, -3.7861511373193935e-05, -0.014830254018306732, -4.837894448428415e-05, -0.00010778394062072039, -0.001248327549546957, -6.541293987538666e-05, -0.0003050607047043741, -0.008700454607605934, -3.3862892450997606e-05, -7.388928497675806e-05, -0.000978619558736682, -6.327260052785277e-05, -0.00017858519277069718, -0.009386165998876095, -4.434705260791816e-05, -9.900076111080125e-05, -0.0011121717980131507, -6.221601506695151e-05, -0.00022807435016147792, -6.385115146636963, -3.980458131991327e-05, -9.200634667649865e-05, -0.15703174471855164, -0.00600035022944212, -0.10067522525787354, -5.065602779388428, -0.6644261479377747, -0.0001117442807299085, -0.21212083101272583, -0.02658255212008953, -0.0865178108215332, -0.06329751014709473, -4.538320717983879e-05, -0.00010022157948696986, -0.002457069931551814, -0.0006650601280853152, -0.0010807993821799755, -0.007249726448208094, -5.2415391110116616e-05, -0.0001168625385616906, -0.001424464862793684, -4.997651558369398e-05, -0.00014754434232600033, -0.4921596050262451, -4.105924745090306e-05, -9.225102985510603e-05, -0.0014733464922755957, -5.596617120318115e-05, -0.006386770401149988], "max": [0.010053589008748531, 0.033466968685388565, 0.0971880704164505, 1.7595027657080209e-06, 0.0003040648007299751, 0.00019364635227248073, 0.00036696105962619185, 0.008953637443482876, 0.02631429396569729, 1.991201543205534e-06, 2.737374961725436e-05, 7.174453912739409e-06, 0.0025944169610738754, 0.019452940672636032, 0.058898214250802994, 2.0231861981301336e-06, 0.0001040221395669505, 2.1708961867261678e-05, 0.003918471746146679, 0.01739572361111641, 0.05223804712295532, 1.3603817023977172e-06, 0.00024589209351688623, 1.8354170606471598e-05, 0.0006165154045447707, 0.01998508907854557, 0.05809992551803589, 1.8494432652005344e-06, 0.00015042562154121697, 7.222719432320446e-06, 3.4150028228759766, 12.823023796081543, 10.225067138671875, 1.6975702692434425e-06, 0.030104124918580055, 0.044399287551641464, 0.027111012488603592, 4.099695682525635, 11.06164264678955, 2.0920581391692394e-06, 0.005469053518027067, 0.0010094557655975223, 0.016044653952121735, 0.04874285310506821, 0.11597466468811035, 1.8405025912215933e-06, 0.0002681151672732085, 0.00020097297965548933, 0.005450294818729162, 0.02126457914710045, 0.0621466226875782, 2.128477035512333e-06, 0.0002461496042087674, 3.871638546115719e-05, 0.004125010222196579, 0.024055946618318558, 0.0703657865524292, 1.6759247500885976e-06, 0.0014541312120854855, 2.5678340534796007e-05], "mean": [-0.0006213686428964138, 0.0033749230206012726, 0.009833463467657566, -0.0001740412990329787, 2.3846519979997538e-05, -1.670744313742034e-05, 5.4657870350638404e-05, 0.0007116788765415549, 0.0021751644089818, -3.50756490661297e-05, 4.0727684336161474e-07, 1.3182210523154936e-06, -0.0004375617718324065, 0.0011587629560381174, 0.003403233364224434, -6.408280023606494e-05, -8.900460102267971e-07, -8.17503132566344e-06, 0.00011051442561438307, 0.00034228299045935273, 0.0010304627940058708, -1.7301501429756172e-05, 1.655747723816603e-06, 1.905109456856735e-06, 5.1821545639541e-05, 0.0005979477427899837, 0.0017610954819247127, -2.740426134550944e-05, 7.112348043847305e-07, 1.756816345732659e-06, 0.5378826856613159, 1.8174940347671509, 3.2714293003082275, -0.04923302307724953, 0.004049350041896105, 0.006667457986623049, -1.5153847932815552, 0.5369474291801453, 3.5560832023620605, -0.057468827813863754, -0.005162139888852835, -0.02344643883407116, 0.00021532384562306106, 0.0012763391714543104, 0.003844077931717038, -6.801740528317168e-05, 1.4302895579021424e-05, -8.831539730635996e-07, -0.0003579242620617151, 0.0032315494026988745, 0.009598955512046814, -0.00019875663565471768, 1.6422151020378806e-05, -1.400920154992491e-05, -0.0003580796765163541, 0.0016814840491861105, 0.004863666370511055, -9.52679110923782e-05, 1.0672620192053728e-05, -8.34021375339944e-06], "std": [0.0014094291254878044, 0.004968338180333376, 0.014196760021150112, 0.0002945551532320678, 4.14979258493986e-05, 3.2533513149246573e-05, 0.00045580710866488516, 0.001409857883118093, 0.0042159766890108585, 6.805477460147813e-05, 3.910401119355811e-06, 8.494412213622127e-06, 0.001845063059590757, 0.002686202060431242, 0.007821749895811081, 0.00015610081027261913, 9.619451702747028e-06, 3.724897396750748e-05, 0.0005915238289162517, 0.0013980221701785922, 0.004126084968447685, 7.258110417751595e-05, 1.5299334336305037e-05, 1.1664567864499986e-05, 0.0007174705970101058, 0.0016437023878097534, 0.0047353701665997505, 8.002363028936088e-05, 1.485633310949197e-05, 1.4458420992013998e-05, 1.0120747089385986, 2.06807279586792, 3.369255304336548, 0.05046776682138443, 0.0062988693825900555, 0.01691056601703167, 1.5651273727416992, 0.7178378105163574, 3.6643145084381104, 0.06206946820020676, 0.005840616300702095, 0.025138525292277336, 0.0025311806239187717, 0.0027179147582501173, 0.007894757203757763, 0.00014871827443130314, 4.5856693759560585e-05, 4.163080666330643e-05, 0.0010947607224807143, 0.004213228356093168, 0.0123909842222929, 0.00027739081997424364, 2.381267950113397e-05, 2.6635045287548564e-05, 0.010320034809410572, 0.0032570643816143274, 0.009291109628975391, 0.00018876987451221794, 4.3746022129198536e-05, 0.00013422573101706803], "count": [2493]}, "timestamp": {"min": [0.0], "max": [83.06666666666666], "mean": [41.53333333333333], "std": [23.988901754924242], "count": [2493]}, "frame_index": {"min": [0], "max": [2492], "mean": [1246.0], "std": [719.6670526477272], "count": [2493]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2493]}, "index": {"min": [7877], "max": [10369], "mean": [9123.0], "std": [719.6670526477272], "count": [2493]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2493]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5679315328598022]], [[0.5681676864624023]], [[0.5688399076461792]]], "std": [[[0.3048156499862671]], [[0.30455082654953003]], [[0.3051316440105438]]], "count": [2493]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30085325241088867]], [[0.3052954077720642]], [[0.3042084276676178]]], "std": [[[0.18107080459594727]], [[0.18213370442390442]], [[0.18309880793094635]]], "count": [2493]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3091321885585785]], [[0.313132107257843]], [[0.31065312027931213]]], "std": [[[0.18391084671020508]], [[0.1839100867509842]], [[0.18368127942085266]]], "count": [2493]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5727503895759583]], [[0.5730840563774109]], [[0.5734955668449402]]], "std": [[[0.3081724941730499]], [[0.3077407479286194]], [[0.3085126280784607]]], "count": [2493]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5686274766921997]], [[0.5686274766921997]], [[0.5686274766921997]]], "mean": [[[0.0026689867954701185]], [[0.0026689867954701185]], [[0.0026689867954701185]]], "std": [[[0.030535921454429626]], [[0.030535921454429626]], [[0.030535921454429626]]], "count": [2493]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4927651584148407]], [[0.4927651584148407]], [[0.4927651584148407]]], "std": [[[0.2226988673210144]], [[0.2226988673210144]], [[0.2226988673210144]]], "count": [2493]}}}
+{"episode_index": 4, "stats": {"observation.state": {"min": [1.0500041246414185, -0.8795982599258423, -0.2244429588317871, 1.2160286903381348, -0.12850289046764374, -0.7699995040893555, 0.4342089891433716, 0.022259045392274857, 0.0023665071930736303, -0.2729826271533966, 0.0025728619657456875, 0.006096353754401207, 0.005328469444066286, -0.05890263244509697, 0.0035208093468099833, 0.0008362955995835364, 0.0018253829330205917, -0.0523645244538784, 0.006851573009043932, 0.0008580232970416546, -0.00325875380076468, -0.016281994059681892, 0.0026351113338023424, 0.0008411731687374413, 0.0054427217692136765, -0.00287679978646338, 0.0049516670405864716, 0.002338696736842394, 0.0008531456696800888, 1.030904769897461, -1.1055372953414917, -0.2428373098373413, 1.0053609609603882, -1.6809475421905518, -0.8674013018608093, -0.40047985315322876, 0.005701263435184956, -0.19072791934013367, -0.2151229977607727, -0.11425483971834183, 0.0032456684857606888, 0.005353000946342945, -0.06749549508094788, 0.003585339756682515, 0.0011427007848396897, 0.0036056279204785824, -0.11986419558525085, 0.0030123661272227764, 0.0010154383489862084, -0.00036600878229364753, -0.14864352345466614, 0.003870408283546567, 0.001102349371649325, 0.00633753277361393, -0.0032987415324896574, -0.16278260946273804, 0.003227231092751026, 0.0008864023839123547, 0.5625874400138855, -1.1069588661193848, 0.543796181678772, -0.0023009711876511574, -9.58738019107841e-05, -0.010546118021011353, -0.8463739156723022], "max": [1.2811213731765747, -0.6524081826210022, -2.8762140118487878e-06, 1.5699976682662964, 0.09461989253759384, -0.05839289352297783, 0.5656609535217285, 1.3466525077819824, 0.2918817102909088, -0.00588515680283308, 0.24433265626430511, 0.5660156607627869, 0.5365016460418701, 0.07326748967170715, 0.0417121946811676, 0.04095853120088577, 0.38165050745010376, 0.14809593558311462, 0.0756094679236412, 0.04101972281932831, 0.06473351269960403, 0.15196773409843445, 0.008885345421731472, 0.008438780903816223, 0.17075802385807037, 0.24178043007850647, 0.22614412009716034, 0.04891194775700569, 0.03630613535642624, 1.4538342952728271, -0.2978591322898865, -0.0002830674056895077, 1.778967022895813, 0.17785751819610596, -0.08803922683000565, 0.6981673836708069, 1.4161622524261475, 0.24733909964561462, 0.31818559765815735, 0.29496145248413086, 0.42455819249153137, 1.0260533094406128, 0.12356892228126526, 0.45499387383461, 0.20885926485061646, 1.4619461297988892, 0.23215430974960327, 1.451607346534729, 0.9923210144042969, 1.4620895385742188, 0.24967612326145172, 1.5647281408309937, 1.1250876188278198, 0.11840622127056122, 1.3309941291809082, 0.23922990262508392, 1.438571810722351, 1.3081361055374146, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.00028762139845639467, 9.58738019107841e-05, 0.13086773455142975, -0.5748593211174011], "mean": [1.216166377067566, -0.7196129560470581, -0.2223644107580185, 1.3152930736541748, 0.0009499458246864378, -0.17287176847457886, 0.46290770173072815, 1.3000297546386719, 0.2827240824699402, -0.213457390666008, 0.22212004661560059, 0.5514411926269531, 0.5122272372245789, 0.06530119478702545, 0.03994383662939072, 0.03934432938694954, 0.3354099690914154, 0.13129858672618866, 0.06701590120792389, 0.038776662200689316, 0.0565192811191082, 0.13591445982456207, 0.007621303200721741, 0.007527094334363937, 0.07455861568450928, 0.20751644670963287, 0.1779700517654419, 0.03748809173703194, 0.03296666219830513, 1.2621835470199585, -0.6010743975639343, -0.2238268405199051, 1.2993656396865845, -1.3211479187011719, -0.31145066022872925, -0.03464299812912941, 1.2368022203445435, 0.01860329508781433, 0.06803582608699799, 0.027799703180789948, 0.13701167702674866, 0.8361489176750183, 0.05189761146903038, 0.26477646827697754, 0.11098933219909668, 1.1991989612579346, -0.046927571296691895, 1.3284484148025513, 0.8052849173545837, 1.321961522102356, -0.0922989621758461, 1.4507014751434326, 0.9203596711158752, 0.03667530044913292, 1.18510103225708, -0.1106480062007904, 0.8873193264007568, 1.246047854423523, 0.5626975297927856, -1.106856107711792, 0.543999433517456, -0.0012098007136955857, -3.9084305569758726e-08, 0.10083049535751343, -0.7377166152000427], "std": [0.04219110682606697, 0.051252707839012146, 0.017395250499248505, 0.06909692287445068, 0.024742038920521736, 0.10494697093963623, 0.025646546855568886, 0.1142912358045578, 0.024648817256093025, 0.023860618472099304, 0.020628903061151505, 0.05082576721906662, 0.07188118249177933, 0.018321990966796875, 0.005221630912274122, 0.004978442098945379, 0.05802310258150101, 0.030046412721276283, 0.01027566660195589, 0.005899093579500914, 0.012707311660051346, 0.028433049097657204, 0.0023981211706995964, 0.0014062760164961219, 0.047618504613637924, 0.044292207807302475, 0.03283797577023506, 0.007961813360452652, 0.006546071730554104, 0.1122385710477829, 0.1717536896467209, 0.021526172757148743, 0.20000118017196655, 0.3107598125934601, 0.12818220257759094, 0.1895289272069931, 0.14165906608104706, 0.06966685503721237, 0.1440853774547577, 0.06543349474668503, 0.07637867331504822, 0.16867831349372864, 0.027541697025299072, 0.09958186000585556, 0.04061537981033325, 0.21263442933559418, 0.03175093233585358, 0.28072744607925415, 0.1780390739440918, 0.25982242822647095, 0.046129483729600906, 0.3100621998310089, 0.213346928358078, 0.012353743426501751, 0.24261592328548431, 0.04723632335662842, 0.29734036326408386, 0.267837256193161, 2.1313253455446102e-05, 4.990642992197536e-05, 7.287284097401425e-05, 0.00036797334905713797, 3.3526407605677377e-06, 0.021032031625509262, 0.03414323925971985], "count": [2453]}, "observation.state.joint_torque": {"min": [-32.39099884033203, -14.526000022888184, -16.118999481201172, -11.98900032043457, -0.09200000017881393, -1.8767999410629272, 1.0255999565124512, -0.5628991723060608, -0.2839966416358948, -0.42002907395362854, -0.28084784746170044, -0.0979551151394844, -0.5516919493675232, -0.506597101688385, -0.08633331209421158, -0.04138316959142685, -0.4691779911518097, -0.4758942425251007, -0.11787818372249603, -0.033534638583660126, -0.21012267470359802, -0.5478540658950806, -0.07803203910589218, -0.03567514568567276, -0.10467266291379929, -0.28304195404052734, -0.42216426134109497, -0.09629485011100769, -0.03139413148164749, 13.003499984741211, -12.375, 2.1410000324249268, -12.482000350952148, -3.2992000579833984, -2.007999897003174, -3.1663999557495117, -1.054480791091919, -1.032830834388733, -0.5641810297966003, -1.2439321279525757, -0.16602559387683868, -0.4662996232509613, -0.9940049052238464, -0.21915379166603088, -0.052085720002651215, -1.1379246711730957, -0.815544605255127, -0.47151273488998413, -0.16339218616485596, -1.2923983335494995, -0.3482855260372162, -0.5993524789810181, -0.04851820319890976, -0.12754231691360474, -1.1705464124679565, -0.44902926683425903, -0.43664735555648804, -0.14912211894989014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.464500427246094, 17.60849952697754, -11.977999687194824, 6.926000118255615, 2.1663999557495117, 1.7064000368118286, 2.379199981689453, 0.8099635243415833, 0.2827230989933014, 0.3355261981487274, 0.3019735515117645, 0.08633331209421158, 0.46246176958084106, 0.2696094512939453, 0.09131408482789993, 0.01855107769370079, 0.33293408155441284, 0.24082553386688232, 0.11123716086149216, 0.012843053787946701, 0.3674747943878174, 0.36171799898147583, 0.06308973580598831, 0.012843053787946701, 0.07388658821582794, 0.29455551505088806, 0.36075854301452637, 0.08135254681110382, 0.019264578819274902, 38.7765007019043, 14.875499725341797, 22.538999557495117, 5.046000003814697, 0.46720001101493835, 3.315999984741211, 1.4215999841690063, 2.3229141235351562, 4.653469562530518, 2.377265214920044, 1.2973679304122925, 0.5794293284416199, 2.145362138748169, 0.48932674527168274, 1.0575830936431885, 0.21333740651607513, 0.47877267003059387, 0.700408935546875, 0.15772433578968048, 0.03710215538740158, 0.2648121416568756, 0.6629897952079773, 0.09463459998369217, 0.1662461906671524, 0.10951047390699387, 0.47877269983291626, 0.5334621071815491, 0.1145576685667038, 0.04281017929315567, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.937667846679688, 1.7740981578826904, -14.245770454406738, -2.0720479488372803, 0.22793075442314148, -0.006641344167292118, 1.7515723705291748, 0.0011717650340870023, -0.0015133857959881425, 0.020950032398104668, 0.009453166276216507, 0.001413893885910511, 0.008011284284293652, 0.004655333701521158, 0.00034653482725843787, 2.5015098799485713e-05, -0.007378050591796637, 0.006221042480319738, -0.0003032191307283938, -7.766196358716115e-05, 0.0067526353523135185, 0.0061111487448215485, -0.0001651461934670806, -0.0002687634842004627, -0.0036130778025835752, 0.00253340438939631, -0.004986623767763376, -0.0010023798095062375, -0.0003987821110058576, 27.7021541595459, 0.579932689666748, 12.941389083862305, -1.8365613222122192, -0.5455314517021179, 1.5616416931152344, -0.9078591465950012, 0.29787835478782654, 1.025045394897461, 0.3226315975189209, 0.08529774099588394, 0.08102153241634369, 0.6031138896942139, -0.1443016082048416, 0.2937295734882355, 0.07045397162437439, -0.04989213868975639, -0.07801969349384308, -0.0039086719043552876, -0.001255682553164661, 0.008993093855679035, 0.0026816311292350292, -0.002253833459690213, -0.0015229912241920829, -0.002978383796289563, -0.006507763639092445, 0.00277395430020988, -0.019923772662878036, 0.003103868803009391, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7019848227500916, 0.9933567047119141, 0.49087250232696533, 0.7065316438674927, 0.17180563509464264, 0.3442404866218567, 0.16495458781719208, 0.045810870826244354, 0.02176949940621853, 0.05665676295757294, 0.05157764256000519, 0.010058564133942127, 0.05718491971492767, 0.048665016889572144, 0.006974971387535334, 0.0035972725600004196, 0.04983948543667793, 0.04368032142519951, 0.013493325561285019, 0.003969814628362656, 0.03601233288645744, 0.05903151258826256, 0.004418203607201576, 0.0032749043311923742, 0.011856143362820148, 0.03286812826991081, 0.052017658948898315, 0.007185984868556261, 0.003848483320325613, 4.368888854980469, 2.088592767715454, 1.5379151105880737, 1.9371572732925415, 0.3747447729110718, 0.6084937453269958, 0.46989500522613525, 0.5879518389701843, 1.2363311052322388, 0.4919486343860626, 0.27261266112327576, 0.11070860922336578, 0.7446098923683167, 0.2581920027732849, 0.34572121500968933, 0.07518713921308517, 0.14531053602695465, 0.14138585329055786, 0.03567131981253624, 0.016451839357614517, 0.06370709836483002, 0.06111466512084007, 0.020062780007719994, 0.009306130930781364, 0.01925281621515751, 0.11043047159910202, 0.09903624653816223, 0.042758747935295105, 0.006032207515090704, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2453]}, "observation.state.tcp": {"min": [0.3589268922805786, 0.1849326640367508, 0.9815600514411926, -1.2088537216186523, 1.2178395986557007, -1.592572808265686, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2710229158401489, -0.2834506332874298, 0.9605078101158142, -0.5622648596763611, 1.168523907661438, 0.4152418375015259, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.40973201394081116, 0.2368723452091217, 1.081005334854126, -0.9122253060340881, 1.6591564416885376, -1.224382996559143, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.470894455909729, -0.034906018525362015, 1.159763216972351, 1.208709955215454, 1.9990965127944946, 1.5590451955795288, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40073132514953613, 0.20495620369911194, 1.0351883172988892, -1.0576660633087158, 1.5617202520370483, -1.5284268856048584, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4002866744995117, -0.14206616580486298, 1.055566668510437, -0.20513352751731873, 1.74016273021698, 0.6869084239006042, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00732492096722126, 0.01219913735985756, 0.022296225652098656, 0.044176869094371796, 0.07494835555553436, 0.06052371487021446, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05965233966708183, 0.055703237652778625, 0.04985976964235306, 0.2890220284461975, 0.14653635025024414, 0.16956454515457153, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2453]}, "action": {"min": [1.0506874322891235, -0.8796536922454834, -0.2244405746459961, 1.2160353660583496, -0.12854722142219543, -0.7693673372268677, 0.4342210292816162, 0.0, 0.0, -0.27416300773620605, 0.0, 0.0, 0.0, -0.062497109174728394, 0.0, 0.0, 0.0, -0.055099256336688995, 0.0, 0.0, 0.0, -0.03384985774755478, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.030907154083252, -1.105945110321045, -0.24283303320407867, 1.0053316354751587, -1.6809407472610474, -0.8678800463676453, -0.40053778886795044, 0.0, -0.19470849633216858, -0.21642917394638062, -0.11343525350093842, 0.0, 0.0, -0.07189873605966568, 0.0, 0.0, 0.0, -0.12392131239175797, 0.0, 0.0, 0.0, -0.1548021137714386, 0.0, 0.0, -9.0894429760624e-09, 0.0, -0.16797634959220886, 0.0, 0.0, 0.5626833438873291, -1.1069588661193848, 0.5439034104347229, -0.0023306829389184713, -1.5906416592770256e-05, -0.010547426529228687, -0.8471575379371643], "max": [1.2811121940612793, -0.6524128317832947, -0.0011390169383957982, 1.5693272352218628, 0.09483728557825089, -0.0583849772810936, 0.565741777420044, 1.3555158376693726, 0.28967350721359253, 0.0, 0.2493099421262741, 0.5696345567703247, 0.5411143898963928, 0.07596325129270554, 0.048217132687568665, 0.045567482709884644, 0.3895207643508911, 0.14584079384803772, 0.08042317628860474, 0.045247916132211685, 0.06511122733354568, 0.1598927229642868, 0.011316724121570587, 0.011232052929699421, 0.19124723970890045, 0.25255998969078064, 0.22364215552806854, 0.05399952456355095, 0.039675917476415634, 1.4539204835891724, -0.2978472113609314, -0.0014182826271280646, 1.7796248197555542, 0.17831841111183167, -0.08798903971910477, 0.7207298278808594, 1.4158198833465576, 0.2720048427581787, 0.32249826192855835, 0.2956036329269409, 0.42791858315467834, 1.0820661783218384, 0.127534419298172, 0.4585752487182617, 0.21229466795921326, 1.4889860153198242, 0.2337447702884674, 1.4562846422195435, 0.9939253330230713, 1.4918904304504395, 0.25118395686149597, 1.5688989162445068, 1.126775860786438, 0.12962238490581512, 1.3374013900756836, 0.2420930117368698, 1.441001534461975, 1.4336323738098145, 0.5626999735832214, -1.106863021850586, 0.5442299246788025, 0.0004132249450776726, 1.6923666407819837e-05, 0.13215741515159607, -0.5722026824951172], "mean": [1.2162532806396484, -0.7196449041366577, -0.22238866984844208, 1.315314531326294, 0.0009205329697579145, -0.17287659645080566, 0.4629184305667877, 1.3093843460083008, 0.2833184003829956, -0.2123374491930008, 0.22323182225227356, 0.5570191144943237, 0.5131452679634094, 0.06551741808652878, 0.04609382525086403, 0.0437932051718235, 0.33317065238952637, 0.13164038956165314, 0.06443683058023453, 0.04102914407849312, 0.054405905306339264, 0.14137175679206848, 0.00983506441116333, 0.00976027362048626, 0.07438013702630997, 0.2114730030298233, 0.1808060258626938, 0.04057838022708893, 0.03495819494128227, 1.2630488872528076, -0.6020254492759705, -0.22384211421012878, 1.3000231981277466, -1.3209811449050903, -0.31178945302963257, -0.034515343606472015, 1.237566590309143, 0.021927829831838608, 0.06769412755966187, 0.02764585055410862, 0.13752144575119019, 0.8404012322425842, 0.04947850480675697, 0.26707759499549866, 0.11331340670585632, 1.1977945566177368, -0.046716053038835526, 1.328044056892395, 0.8050773739814758, 1.3208969831466675, -0.09145358949899673, 1.449214220046997, 0.9201667904853821, 0.03624643385410309, 1.1838945150375366, -0.11064251512289047, 0.8847678303718567, 1.3062726259231567, 0.5626989006996155, -1.1068633794784546, 0.5440478324890137, -0.0012552110711112618, 1.2188309028715594e-07, 0.10088194161653519, -0.7377582788467407], "std": [0.04210942983627319, 0.05127699300646782, 0.01729823276400566, 0.06909749656915665, 0.024783426895737648, 0.10483787208795547, 0.025654476135969162, 0.12854431569576263, 0.028549715876579285, 0.02752813510596752, 0.023926861584186554, 0.057264961302280426, 0.07227852195501328, 0.01782056875526905, 0.006041903514415026, 0.005585807375609875, 0.05737028270959854, 0.02936515584588051, 0.009796860627830029, 0.00595419155433774, 0.011831124313175678, 0.02936854027211666, 0.0021005894523113966, 0.0020841718651354313, 0.04658682644367218, 0.04559629410505295, 0.03256428614258766, 0.008811493404209614, 0.007272467482835054, 0.11217379570007324, 0.1724269688129425, 0.021529288962483406, 0.20031069219112396, 0.3123902380466461, 0.12788034975528717, 0.19004929065704346, 0.15019384026527405, 0.07303841412067413, 0.14412714540958405, 0.06587006896734238, 0.07754538953304291, 0.1747521311044693, 0.025543734431266785, 0.10113446414470673, 0.04172193631529808, 0.21234019100666046, 0.032207708805799484, 0.28070658445358276, 0.17802993953227997, 0.25922563672065735, 0.045992836356163025, 0.30965685844421387, 0.21320560574531555, 0.013870852068066597, 0.24271614849567413, 0.0471000075340271, 0.2978473901748657, 0.2840649485588074, 1.5492998500121757e-05, 5.253792551229708e-06, 4.6409277274506167e-05, 0.00036404203274287283, 7.886575986049138e-06, 0.02109128050506115, 0.034309178590774536], "count": [2453]}, "observation.state.tcp_pose": {"min": [0.3589268922805786, 0.1849326640367508, 0.9815600514411926, -1.2088537216186523, 1.2178395986557007, -1.592572808265686, 0.2710229158401489, -0.2834506332874298, 0.9605078101158142, -0.5622648596763611, 1.168523907661438, 0.4152418375015259], "max": [0.40973201394081116, 0.2368723452091217, 1.081005334854126, -0.9122253060340881, 1.6591564416885376, -1.224382996559143, 0.470894455909729, -0.034906018525362015, 1.159763216972351, 1.208709955215454, 1.9990965127944946, 1.5590451955795288], "mean": [0.40073132514953613, 0.20495620369911194, 1.0351883172988892, -1.0576660633087158, 1.5617202520370483, -1.5284268856048584, 0.4002866744995117, -0.14206616580486298, 1.055566668510437, -0.20513352751731873, 1.74016273021698, 0.6869084239006042], "std": [0.00732492096722126, 0.01219913735985756, 0.022296225652098656, 0.044176869094371796, 0.07494835555553436, 0.06052371487021446, 0.05965233966708183, 0.055703237652778625, 0.04985976964235306, 0.2890220284461975, 0.14653635025024414, 0.16956454515457153], "count": [2453]}, "action.tcp_pose": {"min": [0.35898545384407043, 0.18493372201919556, 0.9813586473464966, -1.2084064483642578, 1.2182804346084595, -1.5927014350891113, 0.27074360847473145, -0.28909748792648315, 0.9604605436325073, -0.5622769594192505, 1.1684188842773438, 0.4150373935699463], "max": [0.4096981883049011, 0.23687782883644104, 1.0809834003448486, -0.9134342670440674, 1.6590629816055298, -1.2273954153060913, 0.4708307683467865, -0.03491029888391495, 1.1604976654052734, 1.2085081338882446, 1.9991848468780518, 1.562263011932373], "mean": [0.40075448155403137, 0.2049693614244461, 1.035189151763916, -1.0576367378234863, 1.5616792440414429, -1.5284662246704102, 0.40036484599113464, -0.14236491918563843, 1.0560404062271118, -0.20478755235671997, 1.7383887767791748, 0.6870142817497253], "std": [0.007282955106347799, 0.012203965336084366, 0.022311003878712654, 0.04400886595249176, 0.07502767443656921, 0.06032530963420868, 0.05961581692099571, 0.055955465883016586, 0.050013985484838486, 0.29060351848602295, 0.1481713205575943, 0.1707434207201004], "count": [2453]}, "subtask_index": {"min": [54], "max": [271], "mean": [239.263350998777], "std": [34.52452571975445], "count": [2453]}, "observation.tactile": {"min": [-0.028166230767965317, -3.516013020998798e-05, -7.75181470089592e-05, -0.001637744135223329, -0.0001909160055220127, -0.0006029423093423247, -0.0026627194602042437, -4.598161103785969e-05, -0.00010534833563724533, -0.0007490866119042039, -1.563148180139251e-05, -5.89803748880513e-05, -0.007385934237390757, -4.856574742007069e-05, -0.00010863962233997881, -0.0008972638752311468, -2.5736942916410044e-05, -0.00014734694559592754, -0.003247219603508711, -3.524963540257886e-05, -7.673933578189462e-05, -0.0015075498959049582, -1.077688648365438e-05, -7.331392407650128e-05, -0.01015184074640274, -4.372563125798479e-05, -9.884757309919223e-05, -0.00119497487321496, -5.580313882092014e-06, -0.000228681048611179, -7.447750568389893, -4.287231058697216e-05, -9.481943561695516e-05, -0.341734379529953, -0.010231214575469494, -0.16346369683742523, -8.777524948120117, -0.12970109283924103, -0.00010287547775078565, -0.18597042560577393, -0.029075972735881805, -0.09287774562835693, -1.0976972579956055, -4.6684701374033466e-05, -0.00010300977737642825, -0.004730983637273312, -0.0038348501548171043, -0.022319460287690163, -0.01501975767314434, -5.779667117167264e-05, -0.00012943183537572622, -0.0013897181488573551, -9.097118891077116e-06, -0.0003231176233384758, -0.04561638832092285, -4.4136628275737166e-05, -9.816808596951887e-05, -0.0008626873604953289, -2.6811192583409138e-05, -0.0005683611379936337], "max": [0.019148221239447594, 0.03199349716305733, 0.0929267406463623, 1.4778954664507182e-06, 0.00029934229678474367, 0.00029838085174560547, 0.006917089223861694, 0.015406065620481968, 0.045575886964797974, 1.804121211534948e-06, 0.0002643539337441325, 2.602053245936986e-05, 0.003608311526477337, 0.014260693453252316, 0.042885925620794296, 2.02121441361669e-06, 9.368285827804357e-05, 3.0543138564098626e-05, 0.015318380668759346, 0.02512788213789463, 0.07605490833520889, 1.4322138213174185e-06, 0.0003201321524102241, 0.00020976481027901173, 0.004295974038541317, 0.020824695006012917, 0.061292972415685654, 1.8622151856106939e-06, 0.0001876612805062905, 3.434794052736834e-05, 7.850770950317383, 20.289958953857422, 24.9068603515625, 1.7260540516872425e-06, 0.07617593556642532, 0.10453461855649948, 0.10356494784355164, 5.3076171875, 14.10204029083252, 1.9435256035649218e-06, 0.014781670644879341, 0.0014923026319593191, 0.00499943969771266, 0.2906927764415741, 0.1880122274160385, 1.8908016272689565e-06, 0.00017186286277137697, 3.262457903474569e-05, 0.0023385577369481325, 0.021185901015996933, 0.0624670684337616, 2.360789949307218e-06, 0.000204375886823982, 9.233176569978241e-06, 0.008863979950547218, 0.014347179792821407, 0.041037868708372116, 1.8343989722779952e-06, 0.00019584629626479, 0.00011303002975182608], "mean": [-0.0006505608907900751, 0.0014781180070713162, 0.004523277282714844, -7.038618059596047e-05, 8.988712352220318e-07, -1.015279849525541e-05, -0.00013415372814051807, 0.0013413096312433481, 0.003989093471318483, -6.433162343455479e-05, 7.5551902227743994e-06, -4.095301392226247e-06, -0.0002963446022477001, 0.001232134411111474, 0.003669734811410308, -6.271389429457486e-05, 2.477368980180472e-06, -5.047815648140386e-06, 0.00229338719509542, 0.006828469689935446, 0.02075040712952614, -0.0003735502832569182, 8.886421710485592e-05, 1.3468840734276455e-05, -0.00027147482614964247, 0.0014549054903909564, 0.0042592789977788925, -7.619072130182758e-05, 1.096433334168978e-05, -8.110327144095208e-06, 1.5482653379440308, 2.8948514461517334, 6.262363910675049, -0.09903879463672638, 0.006804181262850761, 0.023751191794872284, -1.5681296586990356, 0.5322356820106506, 3.739042043685913, -0.05525234714150429, -0.004737760405987501, -0.021920135244727135, -0.010382317006587982, 0.0030829678289592266, 0.002223774092271924, -5.50453805772122e-05, -4.0430611988995224e-05, -0.0002075332886306569, 7.18437586328946e-05, 0.002026795409619808, 0.006121437530964613, -8.635190170025453e-05, 2.0857443814747967e-05, -4.412785074237036e-06, 0.00031170190777629614, 0.0009440426947548985, 0.0027521566953510046, -5.595206675934605e-05, 7.71471513871802e-06, 3.7526303913182346e-06], "std": [0.0024146016221493483, 0.0034469920210540295, 0.010204619728028774, 0.00018508356879465282, 2.1599571482511237e-05, 4.234780863043852e-05, 0.0006612726720049977, 0.001958437729626894, 0.005789245944470167, 9.424440213479102e-05, 2.585000947874505e-05, 1.1410869774408638e-05, 0.0010968049755319953, 0.0021746132988482714, 0.0064302836544811726, 0.00011290546535747126, 9.972609404940158e-06, 2.0354636944830418e-05, 0.0028803192544728518, 0.005681741051375866, 0.017300035804510117, 0.0003170997370034456, 7.553280738648027e-05, 3.481167368590832e-05, 0.0012330610770732164, 0.00301021384075284, 0.00872365664690733, 0.0001587677834322676, 2.4029497581068426e-05, 2.8463316994020715e-05, 1.9630357027053833, 3.1408884525299072, 6.379688739776611, 0.09857098013162613, 0.016401665285229683, 0.03218980133533478, 1.7406508922576904, 0.720272421836853, 3.7899057865142822, 0.055566947907209396, 0.007888291031122208, 0.023498496040701866, 0.09603799134492874, 0.025884095579385757, 0.015447847545146942, 0.0004002230998594314, 0.0003632748848758638, 0.001920787151902914, 0.0005719161126762629, 0.0027315232437103987, 0.008150805719196796, 0.00013460703485179693, 2.7859712645295076e-05, 1.6600000890321098e-05, 0.0014506062725558877, 0.002102477941662073, 0.006080643739551306, 0.00012595673615578562, 2.209159174526576e-05, 1.8990867829415947e-05], "count": [2453]}, "timestamp": {"min": [0.0], "max": [81.73333333333333], "mean": [40.86666666666667], "std": [23.604001543994375], "count": [2453]}, "frame_index": {"min": [0], "max": [2452], "mean": [1226.0], "std": [708.1200463198313], "count": [2453]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [2453]}, "index": {"min": [10370], "max": [12822], "mean": [11596.0], "std": [708.1200463198313], "count": [2453]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2453]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5644081234931946]], [[0.5647071599960327]], [[0.5653437972068787]]], "std": [[[0.30446356534957886]], [[0.30408188700675964]], [[0.30479058623313904]]], "count": [2453]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30065786838531494]], [[0.30497297644615173]], [[0.3036975562572479]]], "std": [[[0.17969177663326263]], [[0.18091851472854614]], [[0.1817513108253479]]], "count": [2453]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3092358410358429]], [[0.3133220076560974]], [[0.3109377324581146]]], "std": [[[0.18411272764205933]], [[0.18410103023052216]], [[0.18394561111927032]]], "count": [2453]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.569389283657074]], [[0.5697615146636963]], [[0.5701345801353455]]], "std": [[[0.308290034532547]], [[0.30777913331985474]], [[0.3086378872394562]]], "count": [2453]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6470588445663452]], [[0.6470588445663452]], [[0.6470588445663452]]], "mean": [[[0.003268149448558688]], [[0.003268149448558688]], [[0.003268149448558688]]], "std": [[[0.035127755254507065]], [[0.035127755254507065]], [[0.035127755254507065]]], "count": [2453]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4927451014518738]], [[0.4927451014518738]], [[0.4927451014518738]]], "std": [[[0.22264641523361206]], [[0.22264641523361206]], [[0.22264641523361206]]], "count": [2453]}}}
+{"episode_index": 5, "stats": {"observation.state": {"min": [1.0508843660354614, -0.9050171971321106, -0.22444798052310944, 1.140001654624939, -0.10975237190723419, -0.767307698726654, 0.37489038705825806, 0.006900235544890165, -0.00026559538673609495, -0.2631605565547943, 0.00011383170203771442, 0.0034871259704232216, 0.003651256440207362, -0.02697671204805374, 0.003488898742944002, 0.000839399523101747, 0.004615831654518843, -0.018226109445095062, 0.006860436871647835, 0.0008190020453184843, -0.002542436122894287, -0.01629793830215931, 0.002674822462722659, 0.0008314179140143096, 0.005541193764656782, -0.0028024695347994566, 0.0012908433564007282, 0.0024234370794147253, 0.0008611272787675261, 0.971585750579834, -1.1821917295455933, -0.24256610870361328, 1.0291551351547241, -1.6938550472259521, -0.7960647344589233, -0.3333098292350769, 0.005621042568236589, -0.0645114853978157, -0.22658060491085052, -0.08412826061248779, 0.00325488718226552, 0.005347603932023048, -0.05745698884129524, 0.0035555565264075994, 0.0008065862348303199, 0.0035114274360239506, -0.11284893751144409, 0.0034523785579949617, 0.0008673351258039474, -0.0005816398770548403, -0.15553510189056396, 0.0038700539153069258, 0.000850485113915056, 0.0065644471906125546, -0.000892698357347399, -0.1739228516817093, 0.0032495688647031784, 0.0014530967455357313, 0.5624915957450867, -1.1069588661193848, 0.543796181678772, -0.0010546117555350065, -9.58738019107841e-05, 9.58738019107841e-05, -0.7756190299987793], "max": [1.2509069442749023, -0.6557286977767944, -0.00250326469540596, 1.5679999589920044, 0.12760251760482788, 0.020176280289888382, 0.5530800223350525, 1.4336916208267212, 0.294290691614151, -0.003516282420605421, 0.25384074449539185, 0.5808200836181641, 0.6025401949882507, 0.08390282094478607, 0.04537447541952133, 0.04546281695365906, 0.5599877238273621, 0.16059249639511108, 0.09639854729175568, 0.0548718087375164, 0.41333454847335815, 0.16277454793453217, 0.056435417383909225, 0.04086275026202202, 0.05637097358703613, 0.6330199837684631, 0.18218748271465302, 0.1567004919052124, 0.07322508096694946, 1.4119343757629395, -0.3028184473514557, -0.0020346816163510084, 1.8714635372161865, 0.28901994228363037, -0.071744404733181, 0.6966056823730469, 1.3767471313476562, 0.2668357193470001, 0.29312217235565186, 0.18921861052513123, 0.4013087749481201, 1.203196406364441, 0.0977025106549263, 0.6696714162826538, 0.2990554869174957, 1.4005600214004517, 0.20355091989040375, 1.435524821281433, 0.7315613627433777, 1.4145292043685913, 0.2193859964609146, 1.5537463426589966, 1.043405532836914, 0.12452754378318787, 1.2648831605911255, 0.21585120260715485, 1.4207323789596558, 1.3081835508346558, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.0003834952076431364, 9.58738019107841e-05, 0.20660804212093353, -0.539385974407196], "mean": [1.1732170581817627, -0.7231132388114929, -0.2219167798757553, 1.2632054090499878, -0.017004435881972313, -0.12056901305913925, 0.4324653744697571, 1.3870774507522583, 0.2860088646411896, -0.16799435019493103, 0.22015558183193207, 0.5567790865898132, 0.5694786906242371, 0.0669863373041153, 0.044235993176698685, 0.043670833110809326, 0.4241442382335663, 0.1454629898071289, 0.07133021950721741, 0.04544677212834358, 0.2399735450744629, 0.14815735816955566, 0.03541635349392891, 0.02850438468158245, 0.03598107397556305, 0.3443649411201477, 0.16128665208816528, 0.06683678925037384, 0.045311447232961655, 1.2509971857070923, -0.6171180605888367, -0.2219197303056717, 1.2819713354110718, -1.3178600072860718, -0.3304004967212677, 0.039753422141075134, 1.2477105855941772, 0.057581011205911636, -0.007178706582635641, 0.00906445737928152, 0.1278650015592575, 0.87688148021698, 0.04712630435824394, 0.20824989676475525, 0.1129705011844635, 1.1379294395446777, -0.052066072821617126, 1.2841132879257202, 0.49047836661338806, 1.298585295677185, -0.099701426923275, 1.4052259922027588, 0.7403802871704102, 0.03193754330277443, 1.1780049800872803, -0.11753440648317337, 0.9852675795555115, 1.2421575784683228, 0.5626916289329529, -1.1068512201309204, 0.5439960956573486, -0.0007316407281905413, -4.128931863078833e-08, 0.17087304592132568, -0.7331109046936035], "std": [0.049767687916755676, 0.049468521028757095, 0.019300207495689392, 0.08550740033388138, 0.02406332828104496, 0.12470170110464096, 0.03372882679104805, 0.13168200850486755, 0.029151756316423416, 0.038112182170152664, 0.024582460522651672, 0.05837840214371681, 0.07787781208753586, 0.016763070598244667, 0.005578663200139999, 0.005567285697907209, 0.09188387542963028, 0.027631720528006554, 0.013801908120512962, 0.0077394344843924046, 0.10610845685005188, 0.02888190746307373, 0.013586129061877728, 0.00850613508373499, 0.012210668064653873, 0.178688645362854, 0.02823164314031601, 0.042221181094646454, 0.016619950532913208, 0.10701319575309753, 0.1867423951625824, 0.022173121571540833, 0.21191398799419403, 0.3202986419200897, 0.12974591553211212, 0.1938074380159378, 0.14781486988067627, 0.05973878502845764, 0.12532751262187958, 0.05211453512310982, 0.09936045855283737, 0.19645999372005463, 0.028464091941714287, 0.12290996313095093, 0.06035042554140091, 0.20525866746902466, 0.032927826046943665, 0.2746344804763794, 0.12004917114973068, 0.25601691007614136, 0.04733971506357193, 0.3044503927230835, 0.19066953659057617, 0.011329984292387962, 0.23638539016246796, 0.04863128811120987, 0.24731694161891937, 0.26646706461906433, 2.980050521728117e-05, 4.402189370011911e-05, 7.389637175947428e-05, 0.00021649750124197453, 3.4458755635569105e-06, 0.03352624177932739, 0.03493965044617653], "count": [2322]}, "observation.state.joint_torque": {"min": [-38.409000396728516, -14.583000183105469, -19.66699981689453, -11.473999977111816, -0.35839998722076416, -1.9215999841690063, 0.7423999905586243, -0.6367637515068054, -0.30309954285621643, -0.5567249059677124, -0.49831852316856384, -0.10459613054990768, -0.5085160732269287, -0.5334621071815491, -0.08965382725000381, -0.039956167340278625, -0.4336778223514557, -0.5478540658950806, -0.12949997186660767, -0.033534638583660126, -0.47685372829437256, -0.4854888916015625, -0.10957689583301544, -0.03068062849342823, -0.10643186420202255, -0.22643357515335083, -0.4883672893047333, -0.13448072969913483, -0.02996712550520897, 13.507499694824219, -11.830499649047852, 4.909999847412109, -12.220000267028809, -2.8055999279022217, -2.2535998821258545, -3.0968000888824463, -1.2989979982376099, -0.7271842360496521, -0.40884485840797424, -0.7468564510345459, -0.11123716086149216, -0.5823948383331299, -0.8625583648681641, -0.15772433578968048, -0.05993425101041794, -1.3192633390426636, -1.0650053024291992, -0.37521788477897644, -0.04066966846585274, -0.6159760355949402, -0.3290962278842926, -0.47981399297714233, -0.05708024278283119, -0.13941693305969238, -0.9230045676231384, -0.4615022838115692, -0.3171089291572571, -0.05493973195552826, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.392000198364258, 13.859999656677246, -8.26200008392334, 4.008999824523926, 1.757599949836731, 1.0247999429702759, 3.6224000453948975, 0.3298436105251312, 0.2814495861530304, 0.2883039712905884, 0.29327473044395447, 0.09629485011100769, 0.39625874161720276, 0.31086641550064087, 0.0879935771226883, 0.014983562752604485, 0.36363694071769714, 0.2964744567871094, 0.13780125975608826, 0.013556556776165962, 0.29455551505088806, 0.28592032194137573, 0.08135254681110382, 0.022832093760371208, 0.05277612805366516, 0.26385265588760376, 0.3626774847507477, 0.09961536526679993, 0.015697065740823746, 41.882999420166016, 16.072500228881836, 23.964000701904297, 6.578000068664551, 0.4887999892234802, 4.028800010681152, 0.5432000160217285, 2.352205276489258, 4.49300479888916, 2.1038734912872314, 1.3992682695388794, 0.5346024632453918, 2.148240327835083, 0.780044436454773, 1.0575830936431885, 0.21405088901519775, 0.4826105237007141, 0.3127853572368622, 0.5810896754264832, 0.09418238699436188, 0.5142728090286255, 0.5027592182159424, 0.5130191445350647, 0.08490685373544693, 0.13413932919502258, 0.5795164108276367, 0.4240831732749939, 0.32374992966651917, 0.06920978426933289, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.55742073059082, 2.350822925567627, -13.725287437438965, -1.9630763530731201, 0.0049916538409888744, -0.04550894722342491, 1.727804183959961, 0.0007272601360455155, -0.0014161252183839679, 0.0210481695830822, 0.0028830058872699738, 0.003199690254405141, 0.015705890953540802, 0.022928044199943542, 0.00017732354172039777, 3.9024496800266206e-05, -0.006921608932316303, 0.004494430962949991, -0.00033605488715693355, -0.00030297780176624656, 0.014502696692943573, 0.013130012899637222, -0.0007729280041530728, 0.001159059931524098, -0.0008205069461837411, 0.0035535721108317375, 0.0027221960481256247, -0.002674141665920615, -0.00041421226342208683, 27.742656707763672, 0.8323492407798767, 12.778356552124023, -1.8825763463974, -0.42900195717811584, 1.5439350605010986, -0.9466737508773804, 0.25935402512550354, 1.1688121557235718, 0.34962207078933716, 0.11956483870744705, 0.09630125761032104, 0.7972117066383362, -0.04728434979915619, 0.3652924597263336, 0.08973810821771622, -0.13440729677677155, -0.19392219185829163, 0.0004955010372214019, -0.000591206073295325, 0.006546017248183489, -0.0014412645250558853, -0.001711021177470684, -0.0025599519722163677, -0.0009636978502385318, -0.012359822168946266, 0.012655689381062984, -0.01593618094921112, 0.0038557322695851326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7460947036743164, 0.9748750329017639, 0.6584767699241638, 0.7056533694267273, 0.22720667719841003, 0.3362791836261749, 0.17700664699077606, 0.046065110713243484, 0.026942722499370575, 0.07102145254611969, 0.056282829493284225, 0.012561637908220291, 0.06727420538663864, 0.06267350167036057, 0.007751555647701025, 0.003905306803062558, 0.06237419694662094, 0.04312566667795181, 0.02005535177886486, 0.0038193478249013424, 0.056641217321157455, 0.06586994975805283, 0.007611584383994341, 0.004894181154668331, 0.007413734216243029, 0.03441625460982323, 0.05051093548536301, 0.014831969514489174, 0.003923323471099138, 4.302501678466797, 2.146352529525757, 1.4917640686035156, 1.8223450183868408, 0.36382296681404114, 0.6427804827690125, 0.455114483833313, 0.6488483548164368, 1.3038761615753174, 0.45335713028907776, 0.30766308307647705, 0.11457885056734085, 0.8581786155700684, 0.24632476270198822, 0.38671746850013733, 0.09105589240789413, 0.2551317512989044, 0.23823894560337067, 0.02570931240916252, 0.009230838157236576, 0.059409454464912415, 0.06874383985996246, 0.023150453343987465, 0.008757698349654675, 0.022459030151367188, 0.11103678494691849, 0.1064329594373703, 0.03416907787322998, 0.0058824350126087666, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2322]}, "observation.state.tcp": {"min": [0.3619045913219452, 0.192030668258667, 0.9696029424667358, -1.2320293188095093, 1.2213212251663208, -1.546509861946106, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24006345868110657, -0.28684642910957336, 0.9632702469825745, -0.6613534092903137, 1.142250418663025, 0.45936301350593567, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4074539542198181, 0.25464382767677307, 1.0680334568023682, -0.9117950797080994, 1.7242097854614258, -1.228804111480713, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47187623381614685, -0.0430816151201725, 1.1303902864456177, 1.231874942779541, 1.9424662590026855, 1.6044601202011108, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39705923199653625, 0.2205982208251953, 1.010237216949463, -1.0941596031188965, 1.6250289678573608, -1.4885666370391846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40074145793914795, -0.15178340673446655, 1.0526165962219238, -0.22242332994937897, 1.7099260091781616, 0.7239585518836975, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007269160822033882, 0.009234498254954815, 0.028159398585557938, 0.05378900095820427, 0.09220506995916367, 0.05283376947045326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06013790890574455, 0.05738813802599907, 0.04591193422675133, 0.3012625575065613, 0.1416485607624054, 0.1815004050731659, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2322]}, "action": {"min": [1.0500752925872803, -0.905039370059967, -0.2244405746459961, 1.1398956775665283, -0.10975251346826553, -0.7694842219352722, 0.37489476799964905, 0.0, 0.0, -0.2723020017147064, 0.0, 0.0, 0.0, -0.02586841583251953, 0.0, 0.0, 0.0, -0.020465632900595665, 0.0, 0.0, 0.0, -0.03219382092356682, 0.0, 0.0, 0.0, 0.0, -0.014702320098876953, 0.0, 0.0, 0.9715912342071533, -1.182405948638916, -0.24256058037281036, 1.0291393995285034, -1.6938447952270508, -0.7961446642875671, -0.33338162302970886, 0.0, -0.07174806296825409, -0.22834236919879913, -0.08555503189563751, 0.0, 0.0, -0.05644729733467102, 0.0, 0.0, 0.0, -0.12038097530603409, 0.0, 0.0, 0.0, -0.15581156313419342, 0.0, 0.0, -9.22879905829177e-09, 0.0, -0.17288969457149506, 0.0, 0.0, 0.5625876188278198, -1.1069587469100952, 0.5439525246620178, -0.001146599417552352, -1.475121644034516e-05, 1.4569222084788092e-18, -0.7757596969604492], "max": [1.2508968114852905, -0.6557217240333557, -0.00021835901134181768, 1.5697680711746216, 0.12758831679821014, 0.020170634612441063, 0.553742527961731, 1.4451918601989746, 0.29194992780685425, 0.0, 0.2588023543357849, 0.5878257751464844, 0.6117028594017029, 0.08233878016471863, 0.05172495171427727, 0.049137040972709656, 0.5697352886199951, 0.1599675714969635, 0.12283232063055038, 0.05753792077302933, 0.4206153154373169, 0.16844898462295532, 0.08434026688337326, 0.046874117106199265, 0.08013666421175003, 0.6351245045661926, 0.1819693148136139, 0.20273302495479584, 0.09052655100822449, 1.411928653717041, -0.30282557010650635, -0.0037935771979391575, 1.8717451095581055, 0.2896692454814911, -0.07172004133462906, 0.6969859600067139, 1.3739084005355835, 0.28525403141975403, 0.2922828495502472, 0.1950988471508026, 0.4039232134819031, 1.2358577251434326, 0.08534365147352219, 0.6741934418678284, 0.3343072533607483, 1.4349454641342163, 0.20818927884101868, 1.4410165548324585, 0.7353349924087524, 1.4479413032531738, 0.2213926613330841, 1.5575754642486572, 1.0443365573883057, 0.13559415936470032, 1.2714804410934448, 0.21831803023815155, 1.4256818294525146, 1.4039603471755981, 0.5626999735832214, -1.106863021850586, 0.5442112684249878, 0.00042279146146029234, 1.3551181837101467e-05, 0.20715723931789398, -0.5384766459465027], "mean": [1.1732841730117798, -0.7231622934341431, -0.2219412624835968, 1.263260006904602, -0.01705222576856613, -0.12067484855651855, 0.4324941337108612, 1.396003246307373, 0.2852853238582611, -0.16522037982940674, 0.2217133641242981, 0.5620128512382507, 0.5703250765800476, 0.06896792352199554, 0.04884021729230881, 0.04676734283566475, 0.42821183800697327, 0.147857204079628, 0.07382113486528397, 0.04789917171001434, 0.24351350963115692, 0.15181905031204224, 0.03650034964084625, 0.03152662515640259, 0.03223185986280441, 0.34748756885528564, 0.16109715402126312, 0.06753956526517868, 0.047969646751880646, 1.2518178224563599, -0.6183068752288818, -0.22192782163619995, 1.2827810049057007, -1.317162275314331, -0.330752432346344, 0.03966110199689865, 1.2469401359558105, 0.060695309191942215, -0.0075031849555671215, 0.009142247959971428, 0.12869210541248322, 0.8890766501426697, 0.043907176703214645, 0.2114623337984085, 0.12360473722219467, 1.1362501382827759, -0.052371155470609665, 1.2827526330947876, 0.49027854204177856, 1.2974281311035156, -0.09897349029779434, 1.404188871383667, 0.7401475310325623, 0.03544218838214874, 1.1764106750488281, -0.11722739785909653, 0.9828947186470032, 1.3023277521133423, 0.5626956820487976, -1.1068594455718994, 0.5440388917922974, -0.0007806021021679044, -1.7418905429167353e-07, 0.1708964705467224, -0.733157217502594], "std": [0.04974900931119919, 0.049507986754179, 0.019242288544774055, 0.0855669304728508, 0.02398700639605522, 0.12495899945497513, 0.03377903252840042, 0.15147435665130615, 0.03342157229781151, 0.04078805446624756, 0.028234800323843956, 0.06648151576519012, 0.0793733075261116, 0.01566247269511223, 0.00645501259714365, 0.006085031200200319, 0.09039425849914551, 0.026754355058073997, 0.012431835755705833, 0.007942666299641132, 0.10599218308925629, 0.028627481311559677, 0.013874227181077003, 0.010002177208662033, 0.020757095888257027, 0.18027102947235107, 0.026938633993268013, 0.04349888116121292, 0.01744629442691803, 0.10677091032266617, 0.18779389560222626, 0.022104766219854355, 0.21247944235801697, 0.32312941551208496, 0.13000480830669403, 0.1940394788980484, 0.16027136147022247, 0.061578501015901566, 0.1250515878200531, 0.052597206085920334, 0.10038474202156067, 0.20596636831760406, 0.025806162506341934, 0.12439747154712677, 0.07274031639099121, 0.20668604969978333, 0.033179111778736115, 0.27510783076286316, 0.12027394771575928, 0.2567528188228607, 0.04672102630138397, 0.3053293228149414, 0.1908741295337677, 0.014335528947412968, 0.23669497668743134, 0.047702591866254807, 0.24769073724746704, 0.28272807598114014, 1.3546847185352817e-05, 7.914214620541316e-06, 4.8426358262076974e-05, 0.00021423038560897112, 6.555219897563802e-06, 0.033663395792245865, 0.0350290983915329], "count": [2322]}, "observation.state.tcp_pose": {"min": [0.3619045913219452, 0.192030668258667, 0.9696029424667358, -1.2320293188095093, 1.2213212251663208, -1.546509861946106, 0.24006345868110657, -0.28684642910957336, 0.9632702469825745, -0.6613534092903137, 1.142250418663025, 0.45936301350593567], "max": [0.4074539542198181, 0.25464382767677307, 1.0680334568023682, -0.9117950797080994, 1.7242097854614258, -1.228804111480713, 0.47187623381614685, -0.0430816151201725, 1.1303902864456177, 1.231874942779541, 1.9424662590026855, 1.6044601202011108], "mean": [0.39705923199653625, 0.2205982208251953, 1.010237216949463, -1.0941596031188965, 1.6250289678573608, -1.4885666370391846, 0.40074145793914795, -0.15178340673446655, 1.0526165962219238, -0.22242332994937897, 1.7099260091781616, 0.7239585518836975], "std": [0.007269160822033882, 0.009234498254954815, 0.028159398585557938, 0.05378900095820427, 0.09220506995916367, 0.05283376947045326, 0.06013790890574455, 0.05738813802599907, 0.04591193422675133, 0.3012625575065613, 0.1416485607624054, 0.1815004050731659], "count": [2322]}, "action.tcp_pose": {"min": [0.3617871105670929, 0.19192799925804138, 0.969536542892456, -1.2234586477279663, 1.2181191444396973, -1.5463788509368896, 0.24006371200084686, -0.29272302985191345, 0.9632668495178223, -0.6613792777061462, 1.143491268157959, 0.45924705266952515], "max": [0.407474160194397, 0.2546083629131317, 1.0680001974105835, -0.911984920501709, 1.724066138267517, -1.2291982173919678, 0.471894770860672, -0.04308955743908882, 1.1323349475860596, 1.2317496538162231, 1.942572832107544, 1.6057010889053345], "mean": [0.397071897983551, 0.22061538696289062, 1.010233759880066, -1.0941144227981567, 1.6249523162841797, -1.4885321855545044, 0.40079113841056824, -0.1521824598312378, 1.053067922592163, -0.22133786976337433, 1.7082011699676514, 0.7238819599151611], "std": [0.0072496081702411175, 0.00923098810017109, 0.028187552466988564, 0.053712498396635056, 0.09238863736391068, 0.05293549224734306, 0.06011584773659706, 0.057781536132097244, 0.046015460044145584, 0.30399176478385925, 0.14343900978565216, 0.18272800743579865], "count": [2322]}, "subtask_index": {"min": [54], "max": [321], "mean": [288.6007751937984], "std": [44.26839933198739], "count": [2322]}, "observation.tactile": {"min": [-0.01971493661403656, -4.069256829097867e-05, -8.847626304486766e-05, -0.0018906465265899897, -6.932442920515314e-05, -0.0004137901123613119, -0.0037940824404358864, -4.8812111344886944e-05, -0.00011224785703234375, -0.0004566477728076279, -1.6459494872833602e-05, -7.511419971706346e-05, -0.008463283069431782, -4.233899380778894e-05, -9.461840090807527e-05, -0.0015768809244036674, -5.22454793099314e-05, -0.0002120750432368368, -0.018460914492607117, -3.69694025721401e-05, -8.105827146209776e-05, -0.0013574595795944333, -7.4687231972347945e-06, -0.0004081136721652001, -0.012409109622240067, -4.721958248410374e-05, -0.00010714151721913368, -0.0007434616563841701, -4.4571617763722315e-05, -0.00023758489987812936, -0.5602337121963501, -3.7498313758987933e-05, -8.640372834634036e-05, -0.1670653223991394, -0.026997476816177368, -0.020770346745848656, -5.3182854652404785, -0.8402584195137024, -9.837318793870509e-05, -0.18225230276584625, -0.03590777516365051, -0.07982243597507477, -0.00729965278878808, -4.6163127990439534e-05, -0.00010171208850806579, -0.001284071709960699, -0.00012853181397076696, -0.000152717882883735, -0.015338589437305927, -4.938213896821253e-05, -0.00011107735190307721, -0.0027182400226593018, -5.3224724979372695e-05, -0.0003567220119293779, -0.28987058997154236, -4.585573333315551e-05, -0.00010290875798091292, -0.0012824712321162224, -0.0004910328425467014, -0.004248024430125952], "max": [0.0003991684934590012, 0.02966943196952343, 0.08686564862728119, 1.6689398307789816e-06, 0.0001652410428505391, 6.552970717166318e-06, 0.00035905532422475517, 0.00961079727858305, 0.028323423117399216, 1.914657786983298e-06, 3.51201269950252e-05, 7.0439109549624845e-06, 0.012872153893113136, 0.025030435994267464, 0.07353967428207397, 1.7704123820294626e-06, 0.00024850567569956183, 0.0001408914104104042, 0.006693519186228514, 0.02359267696738243, 0.0685783326625824, 1.4916392956365598e-06, 0.00016187792061828077, 7.574226765427738e-05, 0.0007255803793668747, 0.012698045931756496, 0.038246698677539825, 2.003480858547846e-06, 8.807524136500433e-05, 7.598939646413783e-06, 5.2620158195495605, 7.1746320724487305, 11.832039833068848, 1.5841517324588494e-06, 0.030359666794538498, 0.0691603347659111, 0.14920483529567719, 5.976752281188965, 12.053136825561523, 1.8519739342082175e-06, 0.0008329343399964273, 0.00705237640067935, 0.017937906086444855, 0.021916192024946213, 0.06510056555271149, 1.8843745692720404e-06, 0.0003070231177844107, 0.00024449769989587367, 0.1466616690158844, 0.056322693824768066, 0.171832874417305, 2.0166389731457457e-06, 0.0007183834677562118, 0.002119367942214012, 0.007311385124921799, 0.04217328503727913, 0.08053866028785706, 1.8898924736276967e-06, 0.00022144595277495682, 0.00012340703688096255], "mean": [-0.0010918256593868136, 0.002385611878708005, 0.0071968501433730125, -0.0001238442346220836, 1.0539801223785616e-05, -2.311781827302184e-05, 5.3430747357197106e-05, 0.0005182158784009516, 0.00155774992890656, -2.5579491193639114e-05, -6.373549013005686e-07, 1.504473857494304e-06, -0.00018814120267052203, 0.0011887236032634974, 0.0035246259067207575, -6.682716775685549e-05, 1.750446472215117e-06, -3.92123001802247e-06, 3.579702024580911e-05, 0.00041364249773323536, 0.0012429262278601527, -2.2183572582434863e-05, 1.941991968124057e-06, 3.166953774780268e-07, 9.884948667604476e-05, 0.0005643765907734632, 0.0016745316097512841, -2.498538560757879e-05, 1.5370727624031133e-06, 2.342640755159664e-06, 1.1178778409957886, 1.7356704473495483, 4.051919460296631, -0.057623397558927536, -0.0009412273648194969, 0.016632627695798874, -1.6863086223602295, 0.5516471266746521, 4.309199810028076, -0.06516144424676895, -0.008153129369020462, -0.023111699149012566, 7.40359173505567e-05, 0.002340461825951934, 0.00698117958381772, -0.0001330756495008245, 1.6546813640161417e-05, -4.2369078983028885e-06, -4.508344500209205e-05, 0.004487270954996347, 0.013161145150661469, -0.00022114216699264944, 3.706842107931152e-05, -1.6520720237167552e-05, -0.00046969472896307707, 0.0025691429618746042, 0.0074110860005021095, -0.00015091869863681495, 1.7373533410136588e-05, -1.3478354958351701e-05], "std": [0.0025565538089722395, 0.003874142188578844, 0.011654272675514221, 0.0002276697487104684, 2.298707295267377e-05, 5.4266049119178206e-05, 0.00053307885536924, 0.0011982850264757872, 0.0035241255536675453, 5.7984441809821874e-05, 3.598163630158524e-06, 9.449287063034717e-06, 0.0011416961206123233, 0.0027214435394853354, 0.007974513806402683, 0.00016740438877604902, 1.7061644030036405e-05, 2.5410219677723944e-05, 0.001090441131964326, 0.0015505488263443112, 0.004549716599285603, 8.617703133495525e-05, 1.3098401723254938e-05, 2.2534306481247768e-05, 0.0005776138277724385, 0.0012560456525534391, 0.0036560113076120615, 5.787890404462814e-05, 1.106264244299382e-05, 1.1205257578694727e-05, 1.2296065092086792, 1.724197268486023, 3.790661096572876, 0.05265238881111145, 0.009082448668777943, 0.017976505681872368, 1.6863285303115845, 1.004075288772583, 4.0132880210876465, 0.06195203959941864, 0.008587132208049297, 0.023355336859822273, 0.0015046497574076056, 0.0030115360859781504, 0.009084856137633324, 0.0001736952253850177, 4.078771598869935e-05, 2.0238772776792757e-05, 0.004029270261526108, 0.005360624752938747, 0.015650004148483276, 0.0002841893001459539, 4.656416058423929e-05, 6.390616908902302e-05, 0.01041330210864544, 0.003993057180196047, 0.011129681952297688, 0.00022833362163510174, 3.196004035999067e-05, 0.0001558469230076298], "count": [2322]}, "timestamp": {"min": [0.0], "max": [77.36666666666666], "mean": [38.68333333333333], "std": [22.34345334560903], "count": [2322]}, "frame_index": {"min": [0], "max": [2321], "mean": [1160.5], "std": [670.303600368271], "count": [2322]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [2322]}, "index": {"min": [12823], "max": [15144], "mean": [13983.5], "std": [670.303600368271], "count": [2322]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2322]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5685690641403198]], [[0.5687130093574524]], [[0.5694907903671265]]], "std": [[[0.3072555959224701]], [[0.3071708381175995]], [[0.30739128589630127]]], "count": [2322]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30181318521499634]], [[0.3058370053768158]], [[0.3045889437198639]]], "std": [[[0.18066264688968658]], [[0.18165338039398193]], [[0.18241508305072784]]], "count": [2322]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30975204706192017]], [[0.3135165572166443]], [[0.311356782913208]]], "std": [[[0.18447472155094147]], [[0.18430382013320923]], [[0.1843687742948532]]], "count": [2322]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5713688731193542]], [[0.5717452764511108]], [[0.5722798705101013]]], "std": [[[0.31034916639328003]], [[0.3098985552787781]], [[0.31033074855804443]]], "count": [2322]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5686274766921997]], [[0.5686274766921997]], [[0.5686274766921997]]], "mean": [[[0.0030048058833926916]], [[0.0030048058833926916]], [[0.0030048058833926916]]], "std": [[[0.032492201775312424]], [[0.032492201775312424]], [[0.032492201775312424]]], "count": [2322]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49318820238113403]], [[0.49318820238113403]], [[0.49318820238113403]]], "std": [[[0.22275735437870026]], [[0.22275735437870026]], [[0.22275735437870026]]], "count": [2322]}}}
+{"episode_index": 6, "stats": {"observation.state": {"min": [1.0499883890151978, -0.8650058507919312, -0.22444438934326172, 1.1330480575561523, -0.09217247366905212, -0.7700029611587524, 0.3537946939468384, 0.0068366373889148235, -0.0002244010247522965, -0.2646549344062805, 0.005479453131556511, 0.003500953782349825, 0.0036073450464755297, -0.08415602147579193, 0.0035020173527300358, 0.0008296442101709545, -0.0030882603023201227, -0.059569645673036575, 0.0068611460737884045, 0.0008442771504633129, -0.0018783713458105922, -0.011305059306323528, 0.0026205743197351694, 0.0008207757491618395, 0.005380641669034958, -0.0027305916883051395, 0.00767808873206377, 0.0022833850234746933, 0.0008358521736226976, 0.9969056248664856, -1.1027581691741943, -0.24264951050281525, 0.9848185181617737, -1.6960391998291016, -0.831697404384613, -0.37018492817878723, 0.005640013609081507, -0.14492595195770264, -0.24716217815876007, -0.09618799388408661, 0.003248150460422039, 0.0050313943065702915, -0.08712874352931976, 0.003583566751331091, 0.000846050854306668, 0.005313750822097063, -0.12374654412269592, 0.0034484786447137594, 0.0008584667230024934, -0.000735206704121083, -0.15909293293952942, 0.0039785499684512615, 0.0008633443503640592, 0.006322548259049654, -0.0019642310217022896, -0.17690664529800415, 0.006810089107602835, 0.0008708825334906578, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0013422331539914012, -9.58738019107841e-05, -0.0001917476038215682, -0.778782844543457], "max": [1.2744768857955933, -0.6410784721374512, -2.133191992470529e-05, 1.5699890851974487, 0.21890157461166382, 0.06442072242498398, 0.5396906137466431, 1.3822436332702637, 0.29178324341773987, 0.0018245272804051638, 0.2450719177722931, 0.5034360289573669, 0.497244268655777, 0.08760635554790497, 0.03784923255443573, 0.04091551527380943, 0.3650650382041931, 0.16959869861602783, 0.05246005952358246, 0.040979813784360886, 0.10594286024570465, 0.16275247931480408, 0.014938796870410442, 0.013157687149941921, 0.24094827473163605, 0.21874076128005981, 0.25671419501304626, 0.0374237559735775, 0.03153667971491814, 1.3781676292419434, -0.2717445492744446, -0.002263820031657815, 1.763432264328003, 0.24836191534996033, -0.00864386186003685, 0.646715521812439, 1.4205726385116577, 0.22360780835151672, 0.2832108438014984, 0.277168869972229, 0.5428896546363831, 1.1074422597885132, 0.10504896938800812, 0.40094926953315735, 0.26463255286216736, 1.3971155881881714, 0.23185552656650543, 1.4173810482025146, 0.7348098158836365, 1.3992640972137451, 0.2401740998029709, 1.5530903339385986, 0.9265401363372803, 0.12471593171358109, 1.2917736768722534, 0.24098464846611023, 1.4021611213684082, 1.3090109825134277, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 0.0001917476038215682, 9.58738019107841e-05, 0.1221432238817215, -0.57792729139328], "mean": [1.2119011878967285, -0.7087175250053406, -0.2216571867465973, 1.2375705242156982, 0.01668008603155613, -0.1124926507472992, 0.40758994221687317, 1.3306372165679932, 0.275869220495224, -0.2343517541885376, 0.19548478722572327, 0.487710565328598, 0.46537724137306213, 0.07008646428585052, 0.036679260432720184, 0.03754827752709389, 0.3270071744918823, 0.14716321229934692, 0.05055667832493782, 0.035095807164907455, 0.09388069808483124, 0.14364415407180786, 0.013775106519460678, 0.011945429258048534, 0.1657816469669342, 0.19289539754390717, 0.22450970113277435, 0.034501753747463226, 0.029613828286528587, 1.2356683015823364, -0.5971132516860962, -0.22050082683563232, 1.257616639137268, -1.2599406242370605, -0.3488101363182068, 0.04007527977228165, 1.2482318878173828, 0.058066226541996, -0.02715485543012619, 0.003867201041430235, 0.15667100250720978, 0.8420935273170471, 0.0502147413790226, 0.24230793118476868, 0.10686612129211426, 1.154545545578003, -0.051543232053518295, 1.2684314250946045, 0.5075509548187256, 1.292667269706726, -0.1024307832121849, 1.4028371572494507, 0.69539874792099, 0.028170503675937653, 1.1590042114257812, -0.12017948925495148, 0.922187089920044, 1.2405993938446045, 0.5626981258392334, -1.1068565845489502, 0.5440301895141602, -0.000888439710251987, -3.9052466149769316e-08, 0.09543254971504211, -0.7380486726760864], "std": [0.043975915759801865, 0.04762473702430725, 0.020568588748574257, 0.0829496756196022, 0.027427494525909424, 0.13858124613761902, 0.042630635201931, 0.15193763375282288, 0.03331240639090538, 0.030907075852155685, 0.021850692108273506, 0.06745307147502899, 0.07218867540359497, 0.02088344097137451, 0.005103183910250664, 0.005532404873520136, 0.06459905207157135, 0.03379250317811966, 0.008624983951449394, 0.006744335871189833, 0.020850596949458122, 0.028316767886281013, 0.0024175355210900307, 0.002237076172605157, 0.04439064860343933, 0.04135166108608246, 0.03318190574645996, 0.0066022854298353195, 0.005756898783147335, 0.1010395959019661, 0.17179745435714722, 0.022575804963707924, 0.20373766124248505, 0.3332746922969818, 0.12330210208892822, 0.1740853488445282, 0.15913468599319458, 0.06675681471824646, 0.11924311518669128, 0.06037900224328041, 0.13168896734714508, 0.1910657435655594, 0.031338173896074295, 0.11727827787399292, 0.05353126302361488, 0.2242291122674942, 0.0366055928170681, 0.2865532338619232, 0.13370995223522186, 0.2716248035430908, 0.049610115587711334, 0.3169185519218445, 0.1781197488307953, 0.011376974172890186, 0.24597081542015076, 0.051660891622304916, 0.253773957490921, 0.27883172035217285, 3.798414400080219e-05, 3.06914298562333e-05, 6.478242721641436e-05, 0.00023041701933834702, 3.3512756090203766e-06, 0.020743120461702347, 0.03504016622900963], "count": [2455]}, "observation.state.joint_torque": {"min": [-30.77400016784668, -3.379499912261963, -16.847999572753906, -9.255999565124512, -0.25200000405311584, -0.699999988079071, 1.1799999475479126, -0.9831631779670715, -0.355314165353775, -0.3454677164554596, -0.4125729501247406, -0.1959102302789688, -0.49796193838119507, -0.48644834756851196, -0.08965382725000381, -0.039242662489414215, -0.2580958902835846, -0.435596764087677, -0.12949997186660767, -0.032821137458086014, -0.21683892607688904, -0.5113945007324219, -0.06973075866699219, -0.03496164828538895, -0.11874628812074661, -0.22355516254901886, -0.5353810787200928, -0.10127562284469604, -0.0321076326072216, 7.335000038146973, -9.340499877929688, -5.184000015258789, -9.289999961853027, -2.466399908065796, -4.823200225830078, -3.6631999015808105, -0.9818897843360901, -0.8774604201316833, -0.6872073411941528, -0.6213447451591492, -0.09629485011100769, -0.4317588806152344, -0.9537073969841003, -0.1859486699104309, -0.05993425101041794, -1.2808847427368164, -0.9585047960281372, -0.5047178864479065, -0.057793740183115005, -0.9700183868408203, -0.3271773159503937, -0.5296216607093811, -0.06635577231645584, -0.12358411401510239, -0.7378280162811279, -0.4662996232509613, -0.4349870979785919, -0.08776086568832397, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.9685001373291, 13.270500183105469, -11.029000282287598, 1.2829999923706055, 1.4983999729156494, 1.8279999494552612, 2.4351999759674072, 0.5679932236671448, 0.32474949955940247, 0.34298232197761536, 0.3504384458065033, 0.09463459998369217, 0.45574551820755005, 0.24946071207523346, 0.09463459998369217, 0.015697065740823746, 0.3885830044746399, 0.35596123337745667, 0.12451920658349991, 0.01855107769370079, 0.3924208879470825, 0.3079880177974701, 0.09131408482789993, 0.014983562752604485, 0.06157214939594269, 0.357880175113678, 0.4384751617908478, 0.0879935771226883, 0.015697065740823746, 43.22999954223633, 13.549500465393066, 20.52899932861328, 2.434999942779541, 0.5320000052452087, 3.6447999477386475, 3.2432000637054443, 2.5152170658111572, 4.504466533660889, 2.1138148307800293, 1.0314323902130127, 0.49143579602241516, 2.142483711242676, 0.8097878098487854, 1.0575830936431885, 0.21476440131664276, 0.8855854868888855, 0.322380006313324, 0.15274357795715332, 0.033534638583660126, 1.2041276693344116, 0.43175891041755676, 0.11621791869401932, 0.039956167340278625, 0.13501892983913422, 0.9997617602348328, 0.5632054805755615, 0.17930765450000763, 0.09989041090011597, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.38985824584961, 2.006293535232544, -13.851131439208984, -1.5837695598602295, 0.027583817020058632, -0.0748954638838768, 1.7411041259765625, -0.00162108417134732, 0.0007620348478667438, 0.014784228056669235, 0.009088595397770405, 0.0008365559042431414, 0.005500387400388718, 0.010657647624611855, 0.0002603666507638991, 0.0001903638622025028, 0.006233193911612034, 0.0008156353142112494, 0.00030635358416475356, -3.8072299503255635e-05, 0.013013903051614761, 0.01125678513199091, 0.0009136493317782879, -0.00018309810548089445, -0.005257542245090008, 0.006069039925932884, -0.0023750043474137783, -0.00033205136423930526, 4.3304680730216205e-05, 27.605833053588867, 0.751380443572998, 12.523445129394531, -1.9003783464431763, -0.4914317727088928, 1.4805951118469238, -0.9956315159797668, 0.41640353202819824, 1.0578010082244873, 0.28934162855148315, 0.08330727368593216, 0.09070959687232971, 0.7267625331878662, -0.055754415690898895, 0.32014206051826477, 0.0762738287448883, -0.12604157626628876, -0.1476055234670639, 0.003285359824076295, -0.0009800133993849158, 0.008118128404021263, 0.0033798119984567165, -0.0017218028660863638, -0.0027569406665861607, -0.0004928255802951753, -0.012242046184837818, 0.017749479040503502, -0.018383227288722992, 0.0013601621612906456, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7381359934806824, 0.8491788506507874, 0.5796074271202087, 0.6623308658599854, 0.21049262583255768, 0.321740061044693, 0.17463372647762299, 0.04397934675216675, 0.028782036155462265, 0.04696055129170418, 0.049081940203905106, 0.010022555477917194, 0.06388988345861435, 0.04789954423904419, 0.007970697246491909, 0.004530020989477634, 0.04735185205936432, 0.042044490575790405, 0.010402832180261612, 0.003314616158604622, 0.0446583591401577, 0.059340137988328934, 0.008602980524301529, 0.0032150421757251024, 0.01478710025548935, 0.03167397156357765, 0.05970088392496109, 0.0060145799070596695, 0.003753575263544917, 4.4520063400268555, 2.139260768890381, 2.1692984104156494, 1.68328857421875, 0.36627858877182007, 0.8411519527435303, 0.5955310463905334, 0.6925079226493835, 1.251603126525879, 0.4340001940727234, 0.25064462423324585, 0.12084093689918518, 0.8390345573425293, 0.2707453668117523, 0.36893197894096375, 0.08447280526161194, 0.25831323862075806, 0.19708752632141113, 0.02895437926054001, 0.00900397077202797, 0.06404349207878113, 0.06748251616954803, 0.02572609670460224, 0.009298737160861492, 0.024301370605826378, 0.11595270782709122, 0.11719750612974167, 0.04100237786769867, 0.006567245349287987, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2455]}, "observation.state.tcp": {"min": [0.3617539703845978, 0.1924186497926712, 0.9699684977531433, -1.2991886138916016, 1.2179303169250488, -1.57418954372406, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2599633038043976, -0.3078082799911499, 0.9515408277511597, -0.5797871947288513, 1.1846822500228882, 0.4673064947128296, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42000719904899597, 0.25321775674819946, 1.0734405517578125, -0.9695395827293396, 1.7710520029067993, -1.2077224254608154, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4691062271595001, -0.035355959087610245, 1.1457934379577637, 1.245723009109497, 2.023137331008911, 1.5785534381866455, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4115799367427826, 0.22148820757865906, 1.02686607837677, -1.1072807312011719, 1.6053071022033691, -1.4881044626235962, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4025779664516449, -0.15021632611751556, 1.044536828994751, -0.1520618498325348, 1.7135556936264038, 0.7444065809249878, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007223878987133503, 0.009645964950323105, 0.02422451786696911, 0.047105710953474045, 0.10442840307950974, 0.0636124238371849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.056067924946546555, 0.059970591217279434, 0.04657740145921707, 0.32392027974128723, 0.13971799612045288, 0.17787037789821625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2455]}, "action": {"min": [1.0499999523162842, -0.8650068044662476, -0.22443968057632446, 1.133023977279663, -0.09222274273633957, -0.7699999809265137, 0.3538063168525696, 0.0, 0.0, -0.27157315611839294, 0.0, 0.0, 0.0, -0.08097319304943085, 0.0, 0.0, 0.0, -0.06830547004938126, 0.0, 0.0, 0.0, -0.03587491065263748, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9969081282615662, -1.1028106212615967, -0.24265606701374054, 0.9848093390464783, -1.6960642337799072, -0.8320697546005249, -0.3702978789806366, 0.0, -0.14365459978580475, -0.24599550664424896, -0.09278716892004013, 0.0, 0.0, -0.09065747261047363, 0.0, 0.0, 0.0, -0.1295517086982727, 0.0, 0.0, 0.0, -0.16667047142982483, 0.0, 0.0, -8.31750224250527e-09, 0.0, -0.18297123908996582, 0.0, 0.0, 0.5626833438873291, -1.1069586277008057, 0.5439889430999756, -0.0013348532374948263, -1.3540116015064996e-05, 9.439333303045545e-19, -0.7793129086494446], "max": [1.274468183517456, -0.6410715579986572, 0.0, 1.5700000524520874, 0.21896566450595856, 0.06440962105989456, 0.539666473865509, 1.3923555612564087, 0.28911876678466797, 0.0, 0.2497115284204483, 0.5102531313896179, 0.5066810846328735, 0.08785980194807053, 0.04370485246181488, 0.04234053194522858, 0.3747113347053528, 0.17133745551109314, 0.05988404154777527, 0.042672500014305115, 0.104092538356781, 0.16903184354305267, 0.01958746276795864, 0.018314167857170105, 0.26180002093315125, 0.21672366559505463, 0.259217768907547, 0.04245882108807564, 0.03624247759580612, 1.378165602684021, -0.27172133326530457, -0.001170065370388329, 1.7636667490005493, 0.24896937608718872, -0.0065024904906749725, 0.6469829082489014, 1.4207227230072021, 0.2385246902704239, 0.2830233573913574, 0.2820870280265808, 0.5458196401596069, 1.1108715534210205, 0.09771415591239929, 0.43575552105903625, 0.2631237506866455, 1.4452365636825562, 0.233178973197937, 1.4224116802215576, 0.736119270324707, 1.4051005840301514, 0.24106895923614502, 1.556258201599121, 0.9281452894210815, 0.13966535031795502, 1.2933661937713623, 0.24161510169506073, 1.405611515045166, 1.3998498916625977, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 1.134955535335186e-20, 1.3552441487263422e-05, 0.1223556250333786, -0.5779487490653992], "mean": [1.2119994163513184, -0.708746075630188, -0.22167116403579712, 1.237642526626587, 0.016590382903814316, -0.11259866505861282, 0.40762048959732056, 1.340971827507019, 0.2761709988117218, -0.2326803356409073, 0.19574373960494995, 0.4940555989742279, 0.46702709794044495, 0.0715394914150238, 0.04076908901333809, 0.03989993780851364, 0.3285682201385498, 0.14980670809745789, 0.05246194079518318, 0.03912333771586418, 0.09285961091518402, 0.149839848279953, 0.017907358705997467, 0.016776906326413155, 0.16546030342578888, 0.19453774392604828, 0.22626493871212006, 0.03723827376961708, 0.03352458402514458, 1.236234426498413, -0.598041832447052, -0.22051019966602325, 1.2583054304122925, -1.2596217393875122, -0.3492084741592407, 0.04015295207500458, 1.2505923509597778, 0.06344253569841385, -0.027455680072307587, 0.003393419086933136, 0.15732303261756897, 0.8495153188705444, 0.046277113258838654, 0.24547016620635986, 0.11251577734947205, 1.152370810508728, -0.05121221765875816, 1.2687511444091797, 0.5072792768478394, 1.2912498712539673, -0.10113707929849625, 1.4024101495742798, 0.6951185464859009, 0.03209400549530983, 1.157265067100525, -0.11984910815954208, 0.9197438955307007, 1.2936493158340454, 0.5626989603042603, -1.1068634986877441, 0.544087827205658, -0.0009340045507997274, -7.438394504788448e-07, 0.09546926617622375, -0.7381028532981873], "std": [0.04391859844326973, 0.04765115678310394, 0.02054140903055668, 0.08305742591619492, 0.027176914736628532, 0.13873516023159027, 0.042665544897317886, 0.16712823510169983, 0.03575004264712334, 0.0329560860991478, 0.02594318427145481, 0.06885015964508057, 0.07376251369714737, 0.020090555772185326, 0.0059947059489786625, 0.005799661856144667, 0.06504591554403305, 0.033514946699142456, 0.010149051435291767, 0.0074270558543503284, 0.020359287038445473, 0.02979927696287632, 0.003807640867307782, 0.0035636613611131907, 0.04751349985599518, 0.041522637009620667, 0.03444705158472061, 0.007697202730923891, 0.0068758451379835606, 0.10092659294605255, 0.17244796454906464, 0.02254185825586319, 0.20418600738048553, 0.33519446849823, 0.12358725070953369, 0.17448246479034424, 0.17095252871513367, 0.07362982630729675, 0.11900728940963745, 0.06111619621515274, 0.1326843947172165, 0.19789278507232666, 0.028079364448785782, 0.12111935019493103, 0.05794001370668411, 0.2248126119375229, 0.03664543479681015, 0.28691336512565613, 0.1338975876569748, 0.27158617973327637, 0.048911962658166885, 0.31759992241859436, 0.17833706736564636, 0.015073904767632484, 0.24587692320346832, 0.05036267638206482, 0.2546449601650238, 0.29281675815582275, 1.551376590214204e-05, 5.850769866810879e-06, 3.3083095331676304e-05, 0.0002272174460813403, 6.81772598909447e-06, 0.020777739584445953, 0.03507255017757416], "count": [2455]}, "observation.state.tcp_pose": {"min": [0.3617539703845978, 0.1924186497926712, 0.9699684977531433, -1.2991886138916016, 1.2179303169250488, -1.57418954372406, 0.2599633038043976, -0.3078082799911499, 0.9515408277511597, -0.5797871947288513, 1.1846822500228882, 0.4673064947128296], "max": [0.42000719904899597, 0.25321775674819946, 1.0734405517578125, -0.9695395827293396, 1.7710520029067993, -1.2077224254608154, 0.4691062271595001, -0.035355959087610245, 1.1457934379577637, 1.245723009109497, 2.023137331008911, 1.5785534381866455], "mean": [0.4115799367427826, 0.22148820757865906, 1.02686607837677, -1.1072807312011719, 1.6053071022033691, -1.4881044626235962, 0.4025779664516449, -0.15021632611751556, 1.044536828994751, -0.1520618498325348, 1.7135556936264038, 0.7444065809249878], "std": [0.007223878987133503, 0.009645964950323105, 0.02422451786696911, 0.047105710953474045, 0.10442840307950974, 0.0636124238371849, 0.056067924946546555, 0.059970591217279434, 0.04657740145921707, 0.32392027974128723, 0.13971799612045288, 0.17787037789821625], "count": [2455]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.1924280971288681, 0.9698492288589478, -1.2966160774230957, 1.2178406715393066, -1.5757355690002441, 0.2599627673625946, -0.3151489198207855, 0.9515181183815002, -0.5799054503440857, 1.1869243383407593, 0.4672354459762573], "max": [0.4199548065662384, 0.2532104253768921, 1.0733842849731445, -0.9705862998962402, 1.7710260152816772, -1.2109730243682861, 0.4691222608089447, -0.03535996749997139, 1.1475909948349, 1.2460917234420776, 2.023404598236084, 1.5803674459457397], "mean": [0.4116005003452301, 0.22148765623569489, 1.026883602142334, -1.107167363166809, 1.6052261590957642, -1.4881246089935303, 0.40258586406707764, -0.1505153328180313, 1.0448558330535889, -0.15158042311668396, 1.7120500802993774, 0.7444095015525818], "std": [0.007211589254438877, 0.009666219353675842, 0.024256134405732155, 0.04683366417884827, 0.10454496741294861, 0.06343533098697662, 0.05609150230884552, 0.06021689251065254, 0.04670027643442154, 0.32604745030403137, 0.14146676659584045, 0.17836210131645203], "count": [2455]}, "subtask_index": {"min": [54], "max": [382], "mean": [340.82729124236255], "std": [57.29735484554268], "count": [2455]}, "observation.tactile": {"min": [-0.060328174382448196, -3.9215872675413266e-05, -8.731600973987952e-05, -0.0019565040711313486, -0.00022289686603471637, -0.0008494348148815334, -0.007136894389986992, -4.289958451408893e-05, -9.383715951116756e-05, -0.0005152503727003932, -3.808675683103502e-05, -0.00015627671382389963, -0.0076378523372113705, -5.2278366638347507e-05, -0.00011655009438982233, -0.0009151296690106392, -2.4917591872508638e-05, -0.00016778898134361953, -0.012279306538403034, -3.415382161620073e-05, -7.369397644652054e-05, -0.0007872937130741775, -5.606221748166718e-06, -0.00024264547391794622, -0.014748839661478996, -4.939083009958267e-05, -0.00011114405060652643, -0.0010474973823875189, -8.435334893874824e-05, -0.00028716539964079857, -1.364461064338684, -3.923089025192894e-05, -9.068597137229517e-05, -0.15863241255283356, -0.007730025798082352, -0.049454499036073685, -7.547553539276123, -0.4971995949745178, -0.00010784923506435007, -0.3614685535430908, -0.06472689658403397, -0.1234520748257637, -0.049478936940431595, -4.633228309103288e-05, -0.00010265701712341979, -0.0016074099112302065, -0.0004107754211872816, -0.0010456762975081801, -0.01352765690535307, -5.716394298360683e-05, -0.00012928769865538925, -0.002271354431286454, -4.473967055673711e-05, -0.0003324021236039698, -0.28271013498306274, -4.1175386286340654e-05, -9.075734851649031e-05, -0.0014190064975991845, -0.0002930891059804708, -0.0042225755751132965], "max": [0.005893879570066929, 0.033518385142087936, 0.09696385264396667, 1.6496471744176233e-06, 0.00026117460220120847, 7.633306813659146e-05, 0.0002983540762215853, 0.010735372081398964, 0.030116256326436996, 1.6285101764879073e-06, 3.433526580920443e-05, 5.879719537915662e-06, 0.02199982851743698, 0.016167400404810905, 0.050527725368738174, 2.1942262264929013e-06, 0.0002756133326329291, 0.0003149527474306524, 0.008987805806100368, 0.016299229115247726, 0.04659636318683624, 1.35593813865853e-06, 0.00019874349527526647, 0.0001190007315017283, 0.0003806086315307766, 0.01862316019833088, 0.05474361777305603, 2.1001496861572377e-06, 0.00010650733020156622, 8.047351911955047e-06, 3.5592846870422363, 8.343894958496094, 10.510396957397461, 1.6710087038518395e-06, 0.042458828538656235, 0.051649466156959534, 8.654879570007324, 24.50084114074707, 24.082761764526367, 2.0172415133856703e-06, 0.011543197557330132, 0.2149098664522171, 0.030913658440113068, 0.024228664115071297, 0.06624483317136765, 1.89427385066665e-06, 0.00028338824631646276, 0.0004278584965504706, 0.06761658191680908, 0.03963267803192139, 0.13831619918346405, 2.3425789095199434e-06, 0.0007347720675170422, 0.0009125088108703494, 0.008945428766310215, 0.04052276536822319, 0.09113182872533798, 1.6293051885440946e-06, 0.00016879035683814436, 0.0001221613638335839], "mean": [-0.0013340107398107648, 0.0033068316988646984, 0.009502422995865345, -0.00018542550969868898, 7.939669558254536e-06, -2.6887810236075893e-05, 0.00010249705519527197, 0.0002502561255823821, 0.0007608606829307973, -1.2654064448724966e-05, -3.2653093740009353e-07, 2.1270609522616724e-06, 0.000335371820256114, 0.000264154834439978, 0.0008107032044790685, -1.3719632988795638e-05, 3.746032746221317e-07, 6.424171260732692e-06, -0.00010762935562524945, 0.0005888380692340434, 0.0017439140938222408, -2.949367990368046e-05, 2.3774493911332684e-06, -2.2499607439385727e-06, -0.0003468235663603991, 0.0009671178413555026, 0.0028754796367138624, -4.378218363854103e-05, -1.9475769477139693e-06, -3.4791651160048787e-06, 0.8007277846336365, 1.93551766872406, 3.899048089981079, -0.054550644010305405, 0.00272722658701241, 0.010172957554459572, -2.324322462081909, 0.687914252281189, 5.919563293457031, -0.08828701078891754, -0.00917860958725214, -0.0320153646171093, -0.00040529927355237305, 0.002516126725822687, 0.007505509536713362, -0.0001438279141439125, 9.591009074938484e-06, -1.2517221875896212e-05, -0.0010386663489043713, 0.003513840027153492, 0.01037692092359066, -0.00021728279534727335, 6.2691756284039e-06, -2.4853501599864103e-05, -0.0010526282712817192, 0.0017645624466240406, 0.00509276520460844, -0.00010205811122432351, 2.4480184492858825e-06, -1.947813871083781e-05], "std": [0.003268004162237048, 0.005454391241073608, 0.015545696020126343, 0.00031699950341135263, 3.578179530450143e-05, 5.530109046958387e-05, 0.0005229777307249606, 0.0010043460642918944, 0.0029279945883899927, 4.931620787829161e-05, 3.7908830563537776e-06, 1.0061556167784147e-05, 0.0006896439008414745, 0.001160021172836423, 0.0034266794100403786, 6.006245530443266e-05, 1.464442175347358e-05, 1.0520040632400196e-05, 0.0012095492566004395, 0.0017230224329978228, 0.005040767602622509, 8.850230369716883e-05, 1.3094562746118754e-05, 2.3970867914613336e-05, 0.001767127774655819, 0.0023073770571500063, 0.00680478336289525, 0.00011081444972660393, 1.3550956282415427e-05, 3.1116014724830166e-05, 0.9610600471496582, 2.0630929470062256, 3.7696011066436768, 0.05324630066752434, 0.007785916328430176, 0.015944860875606537, 2.606062650680542, 2.2678163051605225, 5.909498691558838, 0.0925060287117958, 0.010529007762670517, 0.04170186072587967, 0.0024261397775262594, 0.0035339691676199436, 0.010561882518231869, 0.00021022712462581694, 3.814482988673262e-05, 4.268381235306151e-05, 0.002665989100933075, 0.004757768474519253, 0.014050317928195, 0.0003007400082424283, 3.263368125772104e-05, 5.0503476813901216e-05, 0.010916521772742271, 0.003254056442528963, 0.008991887792944908, 0.00018233702576253563, 2.3688091459916905e-05, 0.0001657771790632978], "count": [2455]}, "timestamp": {"min": [0.0], "max": [81.8], "mean": [40.9], "std": [23.623246554565224], "count": [2455]}, "frame_index": {"min": [0], "max": [2454], "mean": [1227.0], "std": [708.6973966369568], "count": [2455]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [2455]}, "index": {"min": [15145], "max": [17599], "mean": [16372.0], "std": [708.6973966369568], "count": [2455]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2455]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5693035125732422]], [[0.5695781111717224]], [[0.5700222849845886]]], "std": [[[0.30400630831718445]], [[0.3036458492279053]], [[0.30423370003700256]]], "count": [2455]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30208462476730347]], [[0.305743008852005]], [[0.30407238006591797]]], "std": [[[0.18085123598575592]], [[0.1818198263645172]], [[0.1823611557483673]]], "count": [2455]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3092826306819916]], [[0.31280452013015747]], [[0.3106517493724823]]], "std": [[[0.18445970118045807]], [[0.18411487340927124]], [[0.1841188669204712]]], "count": [2455]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5732392072677612]], [[0.5735704302787781]], [[0.5737825632095337]]], "std": [[[0.30735328793525696]], [[0.30687788128852844]], [[0.3076421022415161]]], "count": [2455]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5882353186607361]], [[0.5882353186607361]], [[0.5882353186607361]]], "mean": [[[0.00337308831512928]], [[0.00337308831512928]], [[0.00337308831512928]]], "std": [[[0.034745555371046066]], [[0.034745555371046066]], [[0.034745555371046066]]], "count": [2455]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4928668737411499]], [[0.4928668737411499]], [[0.4928668737411499]]], "std": [[[0.2225598245859146]], [[0.2225598245859146]], [[0.2225598245859146]]], "count": [2455]}}}
+{"episode_index": 7, "stats": {"observation.state": {"min": [1.0087202787399292, -0.8483791351318359, -0.22454231977462769, 1.265217661857605, -0.17743746936321259, -0.7699999809265137, 0.38164088129997253, 0.01028250902891159, 0.0012894916580989957, -0.26045680046081543, 0.006029481999576092, 0.005427293945103884, 0.0038830782286822796, -0.04714767634868622, 0.0034690429456532, 0.0008221060270443559, 0.00021808425663039088, -0.04127950966358185, 0.006889510899782181, 0.0008367390255443752, -0.0032013515010476112, -0.026944084092974663, 0.002767363330349326, 0.0008114639203995466, 0.005577585659921169, -0.003009030595421791, -0.026073219254612923, 0.00228905794210732, 0.0008456074283458292, 0.8653488159179688, -1.1309690475463867, -0.2424696385860443, 1.0587607622146606, -1.669225811958313, -0.8147578239440918, -0.43404442071914673, 0.005580028984695673, -0.15276461839675903, -0.31572598218917847, -0.06893466413021088, 0.003259141929447651, 0.00533631956204772, -0.0787387490272522, 0.003575766459107399, 0.0008296442101709545, 0.005355944857001305, -0.11932695657014847, 0.006387095432728529, 0.0008629009244032204, -0.0012368748430162668, -0.16453000903129578, 0.0038193510845303535, 0.0008606838528066874, 0.0065430402755737305, -0.0014284637290984392, -0.18711461126804352, 0.003192838514223695, 0.000854919315315783, 0.5625874400138855, -1.1069588661193848, 0.543796181678772, -0.0015339808305725455, 0.0, -9.58738019107841e-05, -0.7388993501663208], "max": [1.2125232219696045, -0.665404736995697, 1.1984224101979635e-07, 1.5699999332427979, 0.15831592679023743, -0.11181845515966415, 0.626899242401123, 1.3733556270599365, 0.291749507188797, 0.0015057607088238, 0.26504114270210266, 0.538037121295929, 0.5406072735786438, 0.1072319895029068, 0.037832923233509064, 0.0409146286547184, 0.4615633189678192, 0.21056392788887024, 0.057237084954977036, 0.04545217379927635, 0.13445204496383667, 0.20396648347377777, 0.014942343346774578, 0.017828261479735374, 0.2488667070865631, 0.2541835308074951, 0.23355357348918915, 0.07291337847709656, 0.03619084879755974, 1.4719264507293701, -0.3032894432544708, -4.793690095539205e-06, 1.786987066268921, 0.26663655042648315, -0.06540282815694809, 0.6981701254844666, 1.400090217590332, 0.273663729429245, 0.35807177424430847, 0.28817152976989746, 0.8542777895927429, 1.120093822479248, 0.11867982894182205, 0.821304440498352, 0.5021547079086304, 1.4680794477462769, 0.23601727187633514, 1.4238847494125366, 0.912947416305542, 1.4678045511245728, 0.2634809613227844, 1.5414599180221558, 1.1786717176437378, 0.14887048304080963, 1.3489418029785156, 0.25879985094070435, 1.4269684553146362, 1.308188796043396, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.179284006357193, -0.49844789505004883], "mean": [1.1402616500854492, -0.7194351553916931, -0.22264507412910461, 1.3413935899734497, 0.03653193265199661, -0.21813538670539856, 0.4689631164073944, 1.319525957107544, 0.28395217657089233, -0.20375169813632965, 0.2321760356426239, 0.511315643787384, 0.45684361457824707, 0.08199548721313477, 0.034639980643987656, 0.03622836247086525, 0.32743701338768005, 0.16493752598762512, 0.04569728299975395, 0.033922091126441956, 0.0752251148223877, 0.1576661467552185, 0.010900276713073254, 0.010751542635262012, 0.14264719188213348, 0.15640704333782196, 0.20516090095043182, 0.03264777734875679, 0.02340707927942276, 1.240251064300537, -0.6082765460014343, -0.22308972477912903, 1.3228187561035156, -1.3191633224487305, -0.34693247079849243, -0.07770194858312607, 1.2782626152038574, 0.0005400271038524806, 0.02387942373752594, 0.07141975313425064, 0.21292269229888916, 0.8307479619979858, 0.041970182210206985, 0.26483577489852905, 0.17029120028018951, 1.2038804292678833, -0.05853738263249397, 1.2464847564697266, 0.4115232527256012, 1.3221040964126587, -0.1092093288898468, 1.3825461864471436, 0.7227842211723328, 0.024866599589586258, 1.1988283395767212, -0.1260853409767151, 1.027936339378357, 1.2494815587997437, 0.5627048015594482, -1.1068732738494873, 0.5440192818641663, -0.0008085026638582349, 6.116351158880207e-08, 0.09836386144161224, -0.6744239330291748], "std": [0.05934741348028183, 0.032141413539648056, 0.01655779778957367, 0.05014488101005554, 0.0592392161488533, 0.08331254869699478, 0.049807094037532806, 0.10077343881130219, 0.024057574570178986, 0.022302068769931793, 0.023571066558361053, 0.04428420960903168, 0.08678130805492401, 0.02256780117750168, 0.005164122674614191, 0.005965861491858959, 0.1443612426519394, 0.043720901012420654, 0.013943738304078579, 0.011160049587488174, 0.05666598677635193, 0.04209861904382706, 0.0036401122342795134, 0.007040774449706078, 0.07595372945070267, 0.11556056141853333, 0.03319425880908966, 0.022609509527683258, 0.016295168548822403, 0.14123763144016266, 0.18459999561309814, 0.023637160658836365, 0.1926034837961197, 0.3306867182254791, 0.18815435469150543, 0.21693311631679535, 0.13599294424057007, 0.11455430835485458, 0.20920014381408691, 0.07896331697702408, 0.2562270164489746, 0.19504760205745697, 0.026283277198672295, 0.21967336535453796, 0.11920648068189621, 0.19797766208648682, 0.036046359688043594, 0.26652708649635315, 0.2733052372932434, 0.2360575795173645, 0.04634551331400871, 0.2924298942089081, 0.2551364004611969, 0.011930936947464943, 0.21747678518295288, 0.04747268557548523, 0.2476465404033661, 0.2501167058944702, 3.8542795664398e-05, 4.274773527868092e-05, 8.093213546089828e-05, 0.0003457391867414117, 2.4207704427681165e-06, 0.04095017537474632, 0.034390535205602646], "count": [3135]}, "observation.state.joint_torque": {"min": [-29.14349937438965, -6.372000217437744, -15.425999641418457, -8.116999626159668, -0.12080000340938568, -1.003999948501587, 1.3480000495910645, -0.7335518598556519, -0.3196553885936737, -0.3342835009098053, -0.37529224157333374, -0.13614100217819214, -0.5795164108276367, -0.5315431952476501, -0.0979551151394844, -0.04138316959142685, -0.4451914131641388, -0.4586239159107208, -0.12617947161197662, -0.032821137458086014, -0.3127853274345398, -0.5545703172683716, -0.08135254681110382, -0.03424813970923424, -0.12050550431013107, -0.3837856650352478, -0.4758942723274231, -0.10459613054990768, -0.03068062849342823, 13.746000289916992, -6.922500133514404, 5.25600004196167, -8.930000305175781, -2.015199899673462, -1.9168000221252441, -3.0352001190185547, -1.2607923746109009, -1.0659425258636475, -0.5778506398200989, -0.774195671081543, -0.3104678690433502, -0.555529773235321, -1.1264110803604126, -0.38517940044403076, -0.09489589184522629, -1.5687239170074463, -0.44902923703193665, -0.330390989780426, -0.0321076326072216, -1.5178724527359009, -0.3473260700702667, -0.23409610986709595, -0.05493973195552826, -0.14161595702171326, -1.168627381324768, -0.5171512365341187, -0.25235894322395325, -0.03781566023826599, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.523500442504883, 14.302499771118164, -10.508999824523926, 3.375, 1.6375999450683594, 1.1815999746322632, 2.409600019454956, 1.1818335056304932, 0.26234668493270874, 0.30445894598960876, 0.4001460373401642, 0.09131408482789993, 0.37515053153038025, 0.3223799765110016, 0.09463459998369217, 0.016410568729043007, 0.3741910457611084, 0.41256964206695557, 0.12949997186660767, 0.021405089646577835, 0.3271773159503937, 0.5449756979942322, 0.09297433495521545, 0.016410568729043007, 0.0620119534432888, 0.1918928474187851, 0.3310151696205139, 0.09463459998369217, 0.014270060695707798, 39.78450012207031, 12.159000396728516, 21.38599967956543, 2.865000009536743, 0.3384000062942505, 3.4647998809814453, 0.5776000022888184, 2.4197022914886475, 4.368199348449707, 1.922440767288208, 1.3495609760284424, 0.6890062689781189, 2.142483711242676, 0.5113944411277771, 1.0575830936431885, 0.21333740651607513, 1.3010334968566895, 0.33005571365356445, 0.5611665844917297, 0.14412759244441986, 1.5773593187332153, 0.3079880177974701, 0.45657041668891907, 0.14270058274269104, 0.13018111884593964, 1.0870729684829712, 0.4307994246482849, 0.6690832376480103, 0.1462681144475937, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.717060089111328, 2.180459499359131, -13.729042053222656, -2.71427845954895, 0.3759396970272064, -0.1265450119972229, 1.7214453220367432, -0.0009538186131976545, -0.003062963718548417, 0.02102111093699932, 0.013339015655219555, 0.0006630452699027956, 0.011258646845817566, 0.007517463061958551, -0.00043108468526043, 0.00027652434073388577, 0.005852258298546076, 0.0043691545724868774, -0.0009172455756925046, 0.00019777771376539022, 0.019673777744174004, 0.024071671068668365, 0.0009707335848361254, -0.0015280571533367038, -0.002494305605068803, 0.005217812489718199, 0.006363674998283386, -0.002139533869922161, -0.0023426103871315718, 27.173355102539062, 0.8639376163482666, 12.825217247009277, -2.0896029472351074, -0.6358177065849304, 1.5396367311477661, -0.9663774371147156, 0.28386902809143066, 0.8734777569770813, 0.2643629312515259, 0.09712517261505127, 0.07822168618440628, 0.5220112800598145, -0.13763698935508728, 0.30006030201911926, 0.07852011919021606, -0.018591875210404396, -0.04176410287618637, 0.0007843187195248902, -0.00015317104407586157, 0.005943791009485722, 0.0004967182758264244, -0.0009188345284201205, -0.0018293900648131967, 0.00016750449140090495, -0.01654989831149578, 0.014638954773545265, -0.015916727483272552, 0.00423408905044198, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7550481557846069, 0.9154230952262878, 0.5694875121116638, 0.6337108016014099, 0.14887957274913788, 0.3278045058250427, 0.17502374947071075, 0.04789964482188225, 0.026265624910593033, 0.05621447414159775, 0.054759301245212555, 0.008809437043964863, 0.07223962992429733, 0.0620633028447628, 0.008293542079627514, 0.0039529213681817055, 0.054361261427402496, 0.052017152309417725, 0.013408363796770573, 0.003829654771834612, 0.05184017866849899, 0.07559839636087418, 0.007384538650512695, 0.005854783579707146, 0.011473550461232662, 0.030518533661961555, 0.05894019082188606, 0.009292643517255783, 0.006082900334149599, 4.373483657836914, 2.4346511363983154, 1.3897926807403564, 1.8312454223632812, 0.29377782344818115, 0.6028785705566406, 0.498220294713974, 0.6832800507545471, 1.104076623916626, 0.4153120219707489, 0.2771220803260803, 0.1269032061100006, 0.676981508731842, 0.3195597231388092, 0.3767537474632263, 0.08903900533914566, 0.10185585170984268, 0.09081342816352844, 0.029302766546607018, 0.008380664512515068, 0.07882631570100784, 0.05944474786520004, 0.026432832702994347, 0.009793459437787533, 0.02114715427160263, 0.12279436737298965, 0.08933959156274796, 0.03831668943166733, 0.006414981093257666, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3135]}, "observation.state.tcp": {"min": [0.35194554924964905, 0.1812170296907425, 0.9451176524162292, -1.3193027973175049, 1.2175805568695068, -1.567198634147644, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.22138354182243347, -0.27391472458839417, 0.9312507510185242, -0.6408571004867554, 1.1777386665344238, 0.376212477684021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.39611729979515076, 0.2327590435743332, 1.0518138408660889, -0.9183887243270874, 1.7062708139419556, -1.2283483743667603, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4660966098308563, -0.03949202224612236, 1.1603319644927979, 1.222632646560669, 1.9919846057891846, 1.5173536539077759, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3773995339870453, 0.2000735104084015, 0.9987474679946899, -1.1689609289169312, 1.5868220329284668, -1.4912936687469482, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3918665647506714, -0.142666757106781, 1.0480844974517822, -0.16289399564266205, 1.7307589054107666, 0.6454611420631409, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011508481577038765, 0.010543206706643105, 0.02738981321454048, 0.05857251584529877, 0.07309454679489136, 0.051302868872880936, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06199117377400398, 0.061294641345739365, 0.05645032599568367, 0.3244924247264862, 0.14312045276165009, 0.18642652034759521, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3135]}, "action": {"min": [1.0086597204208374, -0.8483705520629883, -0.2245364487171173, 1.2643558979034424, -0.17775313556194305, -0.7697963714599609, 0.3816414475440979, 0.0, 0.0, -0.2599390745162964, 0.0, 0.0, 0.0, -0.049720846116542816, 0.0, 0.0, 0.0, -0.04268671199679375, 0.0, 0.0, 0.0, -0.07064244896173477, 0.0, 0.0, 0.0, 0.0, -0.05594644695520401, 0.0, 0.0, 0.8653576970100403, -1.1310410499572754, -0.24246442317962646, 1.0587440729141235, -1.6692233085632324, -0.8153743743896484, -0.434299498796463, 0.0, -0.15603163838386536, -0.31406715512275696, -0.07345942407846451, 0.0, 0.0, -0.08339228481054306, 0.0, 0.0, 0.0, -0.1209881454706192, 0.0, 0.0, 0.0, -0.16884326934814453, 0.0, 0.0, -6.087617521188804e-09, 0.0, -0.18797335028648376, 0.0, 0.0, 0.5625885128974915, -1.106958270072937, 0.5439127087593079, -0.0015127721708267927, -1.735668229230214e-05, 3.957543858770526e-21, -0.7392632961273193], "max": [1.2125157117843628, -0.6653695702552795, -0.00025845487834885716, 1.5698933601379395, 0.15830248594284058, -0.11181533336639404, 0.6272011995315552, 1.3802775144577026, 0.2906034290790558, 0.0, 0.2669432461261749, 0.5412609577178955, 0.5492440462112427, 0.10572218149900436, 0.04575338214635849, 0.04442572966217995, 0.4698514938354492, 0.20733870565891266, 0.06594577431678772, 0.047075577080249786, 0.13731500506401062, 0.20550552010536194, 0.021215764805674553, 0.021256225183606148, 0.26180002093315125, 0.2669422924518585, 0.23966844379901886, 0.07899538427591324, 0.040745578706264496, 1.4719353914260864, -0.3032887578010559, -2.7071522064465936e-17, 1.7870794534683228, 0.26699867844581604, -0.06538242846727371, 0.8212560415267944, 1.405559778213501, 0.2797878086566925, 0.36170876026153564, 0.2917289137840271, 0.8564953804016113, 1.1473308801651, 0.11970783770084381, 0.8319708704948425, 0.5008127689361572, 1.5056475400924683, 0.2409725785255432, 1.426376223564148, 0.91392982006073, 1.5157915353775024, 0.26635199785232544, 1.5459504127502441, 1.1801055669784546, 0.16386759281158447, 1.353915810585022, 0.2609262764453888, 1.4299044609069824, 1.458457350730896, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -2.678416801119099e-20, 1.4908588127582334e-05, 0.18009430170059204, -0.4979756772518158], "mean": [1.1402956247329712, -0.7194420695304871, -0.22265885770320892, 1.3414294719696045, 0.03652434051036835, -0.21824084222316742, 0.4689846932888031, 1.3281779289245605, 0.28553351759910583, -0.20039325952529907, 0.23501914739608765, 0.5164487957954407, 0.46043840050697327, 0.0831850990653038, 0.039915475994348526, 0.03915731608867645, 0.3313943147659302, 0.16784457862377167, 0.050631921738386154, 0.03729122132062912, 0.07532905787229538, 0.16179043054580688, 0.012283450923860073, 0.012345286086201668, 0.14799822866916656, 0.16060619056224823, 0.20770756900310516, 0.03402315080165863, 0.025504644960165024, 1.2410374879837036, -0.609210193157196, -0.22308138012886047, 1.3235492706298828, -1.3198140859603882, -0.3475213944911957, -0.07676621526479721, 1.2797966003417969, 0.004854465369135141, 0.023541610687971115, 0.07142995297908783, 0.21356076002120972, 0.833654522895813, 0.03996914252638817, 0.26666373014450073, 0.1849653571844101, 1.2023159265518188, -0.05764646455645561, 1.2462762594223022, 0.4114244878292084, 1.3200230598449707, -0.10790256410837173, 1.3815250396728516, 0.7225525379180908, 0.028119536116719246, 1.196754813194275, -0.12539245188236237, 1.0253742933273315, 1.3250770568847656, 0.5627085566520691, -1.106878638267517, 0.544093132019043, -0.0008555044187232852, 8.777645348345686e-07, 0.09840705990791321, -0.6744939088821411], "std": [0.05935462564229965, 0.032149095088243484, 0.016515864059329033, 0.05020764470100403, 0.0592692494392395, 0.08360125869512558, 0.04981202259659767, 0.11255194246768951, 0.026817893609404564, 0.024243010208010674, 0.026198605075478554, 0.0494130477309227, 0.08764923363924026, 0.023077169433236122, 0.006402208004146814, 0.0060186320915818214, 0.14412876963615417, 0.04296765848994255, 0.014415140263736248, 0.01125080231577158, 0.05691135302186012, 0.04227711632847786, 0.009185154922306538, 0.009228062815964222, 0.08197952806949615, 0.11832266300916672, 0.03341588005423546, 0.024772755801677704, 0.018328288570046425, 0.1411784440279007, 0.1853080689907074, 0.02373475581407547, 0.19310122728347778, 0.32982364296913147, 0.18825970590114594, 0.22084583342075348, 0.1421637386083603, 0.11885607987642288, 0.2089192420244217, 0.07911884784698486, 0.2571691870689392, 0.19547361135482788, 0.023621518164873123, 0.22037483751773834, 0.12445243448019028, 0.19785766303539276, 0.03699440136551857, 0.26675063371658325, 0.27322524785995483, 0.23597101867198944, 0.047969188541173935, 0.29268398880958557, 0.2551722526550293, 0.015174970962107182, 0.2172800600528717, 0.048990581184625626, 0.24787530303001404, 0.2696102559566498, 2.5363187887705863e-05, 1.5850006093387492e-05, 7.048205588944256e-05, 0.00034464633790776134, 7.0119208430696744e-06, 0.04097922891378403, 0.034415606409311295], "count": [3135]}, "observation.state.tcp_pose": {"min": [0.35194554924964905, 0.1812170296907425, 0.9451176524162292, -1.3193027973175049, 1.2175805568695068, -1.567198634147644, 0.22138354182243347, -0.27391472458839417, 0.9312507510185242, -0.6408571004867554, 1.1777386665344238, 0.376212477684021], "max": [0.39611729979515076, 0.2327590435743332, 1.0518138408660889, -0.9183887243270874, 1.7062708139419556, -1.2283483743667603, 0.4660966098308563, -0.03949202224612236, 1.1603319644927979, 1.222632646560669, 1.9919846057891846, 1.5173536539077759], "mean": [0.3773995339870453, 0.2000735104084015, 0.9987474679946899, -1.1689609289169312, 1.5868220329284668, -1.4912936687469482, 0.3918665647506714, -0.142666757106781, 1.0480844974517822, -0.16289399564266205, 1.7307589054107666, 0.6454611420631409], "std": [0.011508481577038765, 0.010543206706643105, 0.02738981321454048, 0.05857251584529877, 0.07309454679489136, 0.051302868872880936, 0.06199117377400398, 0.061294641345739365, 0.05645032599568367, 0.3244924247264862, 0.14312045276165009, 0.18642652034759521], "count": [3135]}, "action.tcp_pose": {"min": [0.35207444429397583, 0.18122760951519012, 0.9448725581169128, -1.3194835186004639, 1.2179676294326782, -1.5669081211090088, 0.22048966586589813, -0.27476766705513, 0.9312295317649841, -0.6409553289413452, 1.1397398710250854, 0.3761899471282959], "max": [0.39609411358833313, 0.23276834189891815, 1.0517970323562622, -0.9178781509399414, 1.7062687873840332, -1.2290022373199463, 0.4659709930419922, -0.03947898745536804, 1.1605639457702637, 1.2088515758514404, 1.9919850826263428, 1.5153557062149048], "mean": [0.3774118423461914, 0.20007432997226715, 0.9987282752990723, -1.168989896774292, 1.5867716073989868, -1.4912633895874023, 0.391907662153244, -0.1429165154695511, 1.0486013889312744, -0.16403906047344208, 1.7285999059677124, 0.6457388997077942], "std": [0.011509103700518608, 0.010544213466346264, 0.027404064312577248, 0.058597784489393234, 0.07317385822534561, 0.05141832306981087, 0.06196843460202217, 0.06147068366408348, 0.05653630569577217, 0.3206790089607239, 0.14681093394756317, 0.1878252476453781], "count": [3135]}, "subtask_index": {"min": [54], "max": [437], "mean": [388.7004784688995], "std": [76.24949760449923], "count": [3135]}, "observation.tactile": {"min": [-0.024335503578186035, -4.1783823689911515e-05, -9.261710511054844e-05, -0.0015175227308645844, -0.00018142945191357285, -0.0003446883929427713, -0.006149650551378727, -4.450955748325214e-05, -0.00010241176642011851, -0.0005269570974633098, -6.0981510614510626e-06, -0.00013774439867120236, -0.018670249730348587, -4.871147757512517e-05, -0.00010860466863960028, -0.0015330020105466247, -3.937020665034652e-05, -0.0003966551448684186, -0.013377847149968147, -3.373812069185078e-05, -7.448664109688252e-05, -0.001018373528495431, -4.234532025293447e-05, -0.0002906446752604097, -0.005838877055794001, -4.965101834386587e-05, -0.00011182422167621553, -0.0004747758503071964, -3.726653449120931e-05, -0.00011516077211126685, -0.9493363499641418, -3.7615707697113976e-05, -8.66056143422611e-05, -0.17767588794231415, -0.006917168851941824, -0.021942630410194397, -7.8965864181518555, -0.4791850745677948, -0.00010973928874591365, -0.2688664197921753, -0.04180504009127617, -0.13188280165195465, -0.48116421699523926, -4.8123474698513746e-05, -0.00010652930359356105, -0.0037227864377200603, -0.002061801264062524, -0.008732578717172146, -0.021672047674655914, -5.513985161087476e-05, -0.00012327480362728238, -0.002785216551274061, -6.40848302282393e-05, -0.00048540570423938334, -0.3098176121711731, -4.7508659918094054e-05, -0.00010701439168769866, -0.001262986334040761, -0.0002081190177705139, -0.0045645348727703094], "max": [0.0005267098895274103, 0.024123141542077065, 0.07127296924591064, 1.757217432896141e-06, 0.00014798057964071631, 6.871635832794709e-06, 0.0003302830446045846, 0.00999475922435522, 0.028367217630147934, 1.7855286387202796e-06, 5.48991774849128e-05, 6.513250809803139e-06, 0.03248320892453194, 0.02472096122801304, 0.07165027409791946, 2.064602767859469e-06, 0.0002569613861851394, 0.0004737174022011459, 0.0017383177764713764, 0.018362967297434807, 0.053535640239715576, 1.3909129847888835e-06, 0.00013202804257161915, 5.5149248510133475e-06, 0.006456722505390644, 0.010795551352202892, 0.03079492226243019, 2.0975594452465884e-06, 0.00016837011207826436, 6.829331687185913e-05, 5.144650936126709, 6.574066162109375, 9.380012512207031, 1.582475078976131e-06, 0.023075280711054802, 0.06851939111948013, 1.3381221294403076, 11.515318870544434, 16.733362197875977, 2.048440819635289e-06, 0.006863417569547892, 0.05211017653346062, 0.0062985834665596485, 0.13004228472709656, 0.20100848376750946, 1.9573269582906505e-06, 0.00022365049517247826, 3.4649136068765074e-05, 0.15266236662864685, 0.052644457668066025, 0.16725647449493408, 2.25681537813216e-06, 0.000949913403019309, 0.002472136402502656, 0.005925350822508335, 0.044213149696588516, 0.08157198876142502, 1.9755098037421703e-06, 0.00016997894272208214, 5.192539538256824e-05], "mean": [-0.001394048216752708, 0.0025512075517326593, 0.007589094340801239, -0.0001419337495462969, -7.168901561271923e-07, -2.403479811619036e-05, -0.0004070247523486614, 0.0015657565090805292, 0.004652595613151789, -7.643439312232658e-05, 3.770310740947025e-06, -7.498163085983833e-06, -0.0001252117654075846, 0.0013559535145759583, 0.004032311029732227, -7.905442907940596e-05, 3.912767169822473e-06, -4.358875230536796e-06, -0.00013397770817391574, 0.0006066511268727481, 0.0017869911389425397, -2.9069426091155037e-05, 2.373804363742238e-06, -2.589927589724539e-06, 0.0002667019434738904, 0.0003515201387926936, 0.0010413333075121045, -1.5268800780177116e-05, 2.3551328922621906e-06, 4.7363632802444045e-06, 0.7895110845565796, 1.7191734313964844, 2.8743181228637695, -0.04894871637225151, 0.0020737890154123306, 0.011887716129422188, -1.751647710800171, 1.0045047998428345, 4.891133785247803, -0.07829226553440094, -0.006577030289918184, -0.02724836952984333, -0.002267107367515564, 0.0014756189193576574, 0.003708077594637871, -7.651218038517982e-05, -3.5324699183547636e-06, -4.55909212178085e-05, -0.0009209903073497117, 0.0028282497078180313, 0.008337940089404583, -0.00016612325271125883, 7.611799446749501e-06, -2.204530937888194e-05, -0.00031993904849514365, 0.0006587838288396597, 0.001891647232696414, -3.659972935565747e-05, -1.7669093494987465e-06, -4.284485385142034e-06], "std": [0.002581472508609295, 0.0039145005866885185, 0.011565315537154675, 0.0002339077036594972, 3.404611561563797e-05, 4.590870230458677e-05, 0.0006099906167946756, 0.0016794257098808885, 0.0049497224390506744, 8.165081089828163e-05, 5.1650044952111784e-06, 1.1701959920173977e-05, 0.0019832742400467396, 0.0035419799387454987, 0.010429189540445805, 0.00021392854978330433, 1.908589547383599e-05, 3.867413761327043e-05, 0.0012620583875104785, 0.0018993832636624575, 0.005502135958522558, 9.643859812058508e-05, 1.1910438843187876e-05, 2.597368620627094e-05, 0.000373738759662956, 0.001118711894378066, 0.003235733136534691, 4.9198963097296655e-05, 1.3299411875777878e-05, 7.782808097545058e-06, 1.13787841796875, 1.982651710510254, 3.0551180839538574, 0.054574720561504364, 0.004186867270618677, 0.016817301511764526, 2.2562055587768555, 1.562441110610962, 5.498653888702393, 0.08669036626815796, 0.009515784680843353, 0.037304654717445374, 0.022830527275800705, 0.005881407763808966, 0.01102814543992281, 0.0002270143013447523, 9.266847337130457e-05, 0.0004355832061264664, 0.004318907391279936, 0.0048477742820978165, 0.014268126338720322, 0.0002886453294195235, 3.318773815408349e-05, 7.618721429025754e-05, 0.009435002692043781, 0.002093720017001033, 0.005343938712030649, 0.00010230000771116465, 1.4696347534481902e-05, 0.00013902992941439152], "count": [3135]}, "timestamp": {"min": [0.0], "max": [104.46666666666667], "mean": [52.233333333333334], "std": [30.166550030468198], "count": [3135]}, "frame_index": {"min": [0], "max": [3134], "mean": [1567.0], "std": [904.9965009140459], "count": [3135]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [3135]}, "index": {"min": [17600], "max": [20734], "mean": [19167.0], "std": [904.9965009140459], "count": [3135]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3135]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5533284544944763]], [[0.5532332062721252]], [[0.5543342232704163]]], "std": [[[0.29500800371170044]], [[0.29494646191596985]], [[0.2958299219608307]]], "count": [3135]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30155035853385925]], [[0.30535414814949036]], [[0.30439984798431396]]], "std": [[[0.1808600127696991]], [[0.18188874423503876]], [[0.18268808722496033]]], "count": [3135]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3090819716453552]], [[0.31261587142944336]], [[0.30982890725135803]]], "std": [[[0.18416109681129456]], [[0.1837233155965805]], [[0.18333342671394348]]], "count": [3135]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5546807646751404]], [[0.5547205805778503]], [[0.5554811358451843]]], "std": [[[0.29963186383247375]], [[0.29931676387786865]], [[0.30035462975502014]]], "count": [3135]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6039215922355652]], [[0.6039215922355652]], [[0.6039215922355652]]], "mean": [[[0.002675205236300826]], [[0.002675205236300826]], [[0.002675205236300826]]], "std": [[[0.03091827593743801]], [[0.03091827593743801]], [[0.03091827593743801]]], "count": [3135]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49224498867988586]], [[0.49224498867988586]], [[0.49224498867988586]]], "std": [[[0.22254517674446106]], [[0.22254517674446106]], [[0.22254517674446106]]], "count": [3135]}}}
+{"episode_index": 8, "stats": {"observation.state": {"min": [1.0502156019210815, -0.8570067882537842, -0.2247321456670761, 1.1963343620300293, -0.09540306031703949, -0.767166256904602, 0.36778193712234497, 0.0068321204744279385, -0.0014555355301126838, -0.2688129246234894, 0.003983920440077782, 0.003537119133397937, 0.003659106558188796, -0.09473028779029846, 0.0035158453974872828, 0.0008358521736226976, -0.0017265185015276074, -0.09571276605129242, 0.006900857202708721, 0.0008287574164569378, -0.0011502793058753014, -0.026966407895088196, 0.0027202062774449587, 0.000839399523101747, 0.00587514229118824, -0.0011667161015793681, -0.026036912575364113, 0.0023312510456889868, 0.000850485113915056, 0.8433807492256165, -1.1076091527938843, -0.24314674735069275, 1.064042329788208, -1.7358309030532837, -0.8238365054130554, -0.45367804169654846, 0.00550125353038311, -0.14767149090766907, -0.2357274740934372, -0.11508063971996307, 0.003261978505179286, 0.005260517820715904, -0.10525181889533997, 0.003567966166883707, 0.0008983747684396803, 0.005364776123315096, -0.10541588068008423, 0.006383904255926609, 0.0008602404268458486, -0.0017736211884766817, -0.13574980199337006, 0.003822542494162917, 0.0008575798710808158, 0.0064049651846289635, -0.00316160568036139, -0.151799276471138, 0.0032282948959618807, 0.0008664483320899308, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0013422331539914012, 0.0, -0.0057524279691278934, -0.7589370012283325], "max": [1.2014589309692383, -0.6765722036361694, -0.0023841415531933308, 1.5673574209213257, 0.2098609209060669, -0.0356469564139843, 0.6385504007339478, 1.482251763343811, 0.29403284192085266, 0.00037880780291743577, 0.272442102432251, 0.6511522531509399, 0.46147939562797546, 0.09291298687458038, 0.03384727984666824, 0.036154039204120636, 0.41826170682907104, 0.16773037612438202, 0.060954321175813675, 0.04100774973630905, 0.138210266828537, 0.1720101237297058, 0.01867695339024067, 0.017790568992495537, 0.24091508984565735, 0.23305509984493256, 0.23533308506011963, 0.034390468150377274, 0.03620414808392525, 1.3615223169326782, -0.32056936621665955, -0.0018708574352785945, 1.785773515701294, 0.2669943869113922, -0.16228318214416504, 0.6981685757637024, 1.4166693687438965, 0.27231550216674805, 0.37358659505844116, 0.25676003098487854, 0.47691717743873596, 1.1291583776474, 0.1374819278717041, 0.8305624723434448, 0.5770962834358215, 1.4648078680038452, 0.21423335373401642, 1.4869576692581177, 1.1403816938400269, 1.4635790586471558, 0.21879179775714874, 1.5684731006622314, 0.999578058719635, 0.09413713961839676, 1.2793068885803223, 0.2119617611169815, 1.374809741973877, 1.312453269958496, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 0.0, 0.11083011329174042, -0.5845425724983215], "mean": [1.1383516788482666, -0.7147918343544006, -0.22238466143608093, 1.260987401008606, 0.08578326553106308, -0.15500392019748688, 0.4446873664855957, 1.427200198173523, 0.2826473116874695, -0.18153898417949677, 0.23145222663879395, 0.6271893978118896, 0.43175774812698364, 0.07648365944623947, 0.03259996324777603, 0.034583259373903275, 0.36745479702949524, 0.14781732857227325, 0.05177588388323784, 0.03866009786725044, 0.11867712438106537, 0.14408645033836365, 0.01682274229824543, 0.016420889645814896, 0.13052505254745483, 0.2122749388217926, 0.20234909653663635, 0.03314503654837608, 0.03309876471757889, 1.1924540996551514, -0.6286180019378662, -0.22181758284568787, 1.3322705030441284, -1.39192795753479, -0.4839280843734741, -0.006608456838876009, 1.2894563674926758, -0.032262224704027176, 0.08973754942417145, 0.09765078127384186, 0.11228462308645248, 0.8608711957931519, 0.046206504106521606, 0.18361613154411316, 0.1868087500333786, 1.2028745412826538, -0.04363076016306877, 1.3504323959350586, 0.956815779209137, 1.2926865816116333, -0.09016095846891403, 1.415921926498413, 0.794364333152771, 0.031111115589737892, 1.1622953414916992, -0.10648364573717117, 0.8760199546813965, 1.2409257888793945, 0.562696635723114, -1.1068569421768188, 0.5440624356269836, -0.0007504965178668499, 0.0, 0.07656534761190414, -0.7289583086967468], "std": [0.03965158015489578, 0.034109245985746384, 0.018371203914284706, 0.06031941995024681, 0.03555264696478844, 0.11158344894647598, 0.05303370580077171, 0.1446177065372467, 0.031484488397836685, 0.03527054563164711, 0.02612730674445629, 0.07439076155424118, 0.06738883256912231, 0.021298503503203392, 0.004572093952447176, 0.004916055127978325, 0.0699402242898941, 0.034171681851148605, 0.008543223142623901, 0.007043852470815182, 0.025953294709324837, 0.033681973814964294, 0.0030945490580052137, 0.003064624033868313, 0.056348804384469986, 0.043240152299404144, 0.03877625614404678, 0.005967811215668917, 0.006322468630969524, 0.1071285605430603, 0.15907661616802216, 0.023544834926724434, 0.18179857730865479, 0.323233425617218, 0.13231059908866882, 0.19639140367507935, 0.14540903270244598, 0.08784843236207962, 0.14837801456451416, 0.07756225764751434, 0.10201334953308105, 0.2015799731016159, 0.0343608632683754, 0.14665363729000092, 0.12631510198116302, 0.21783308684825897, 0.03360804170370102, 0.3014824390411377, 0.22362171113491058, 0.2523450255393982, 0.04477808624505997, 0.31991827487945557, 0.207763671875, 0.012006456032395363, 0.22902457416057587, 0.04790874943137169, 0.2951466739177704, 0.2766462564468384, 3.392808503122069e-05, 4.752691893372685e-05, 5.5947963119251654e-05, 0.00025388109497725964, 0.0, 0.02092394419014454, 0.025319542735815048], "count": [2437]}, "observation.state.joint_torque": {"min": [-29.929500579833984, -9.793499946594238, -15.668999671936035, -8.081000328063965, -0.08479999750852585, -1.4248000383377075, 1.2904000282287598, -0.6074725985527039, -0.2279614359140396, -0.3852337598800659, -0.374049574136734, -0.08467306196689606, -0.4883672893047333, -0.46725907921791077, -0.0979551151394844, -0.04066966846585274, -0.38474515080451965, -0.42504265904426575, -0.11621791869401932, -0.033534638583660126, -0.25425800681114197, -0.5612865686416626, -0.10791664570569992, -0.0321076326072216, -0.09367763251066208, -0.2916771173477173, -0.4922051727771759, -0.0979551151394844, -0.03068062849342823, 9.841500282287598, -6.247499942779541, 1.7760000228881836, -7.190999984741211, -2.634399890899658, -2.180000066757202, -2.988800048828125, -1.02901029586792, -0.8761869072914124, -0.680993914604187, -1.2165931463241577, -0.26066020131111145, -0.8107473254203796, -1.0390998125076294, -0.18428844213485718, -0.0642152652144432, -1.2329115867614746, -0.8894233107566833, -0.11123716086149216, -0.04066966846585274, -0.7810038924217224, -0.3770694434642792, -0.11787818372249603, -0.046377696096897125, -0.490378201007843, -1.0976271629333496, -0.4471103549003601, -0.9031793475151062, -0.12058199942111969, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.635499954223633, 11.187000274658203, -11.822999954223633, 3.7230000495910645, 1.8431999683380127, 1.3464000225067139, 2.3592000007629395, 0.278902530670166, 0.29036426544189453, 0.34795308113098145, 0.30321624875068665, 0.09131408482789993, 0.36075854301452637, 0.28975820541381836, 0.1062563955783844, 0.01783757284283638, 0.4020155072212219, 0.2887987196445465, 0.13614100217819214, 0.021405089646577835, 0.28016355633735657, 0.3031907081604004, 0.1145576685667038, 0.014983562752604485, 0.07080797851085663, 0.29455551505088806, 0.3242988884449005, 0.08965382725000381, 0.021405089646577835, 36.37200164794922, 11.538000106811523, 19.29599952697754, 2.2899999618530273, 0.5311999917030334, 3.0999999046325684, 0.9872000217437744, 2.415881633758545, 4.025620460510254, 2.193347215652466, 1.2327481508255005, 0.5528652667999268, 2.1472811698913574, 0.626530110836029, 1.0575830936431885, 0.21476440131664276, 0.4269615709781647, 0.4269615709781647, 0.6541408896446228, 0.1348520666360855, 0.7867606282234192, 0.3271772861480713, 0.28058329224586487, 0.09061487764120102, 0.14117614924907684, 0.6677870750427246, 1.0410187244415283, 0.6973075270652771, 0.13627907633781433, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.244678497314453, 2.5364723205566406, -13.376195907592773, -2.1210272312164307, 0.1958407610654831, -0.20067830383777618, 1.6886392831802368, 0.00042015581857413054, -0.0002382880193181336, 0.019398130476474762, -0.001325306948274374, 0.0035834964364767075, 0.008588304743170738, 0.013178933411836624, 0.0006117831799201667, 4.011065902886912e-05, -0.007170216646045446, 0.005450488068163395, -0.000889057875610888, 1.8445454770699143e-05, 0.018973108381032944, 0.018849492073059082, 0.0013686741003766656, -0.0001522449019830674, -0.004571790806949139, 0.007208347786217928, -0.00591072766110301, -5.9952380979666486e-05, -0.0005278812604956329, 26.399301528930664, 1.0672658681869507, 12.583630561828613, -2.5645391941070557, -0.5452342629432678, 1.5961883068084717, -0.9313378930091858, 0.2468186616897583, 0.7128693461418152, 0.3202843964099884, 0.08372676372528076, 0.07893269509077072, 0.6031210422515869, -0.12181771546602249, 0.28849098086357117, 0.08120089769363403, -0.056080400943756104, -0.0748138278722763, -0.0019150512525811791, 5.650800449075177e-05, 0.006664660293608904, 0.0021252299193292856, -0.003180854022502899, -0.001563439960591495, -0.003631019964814186, -0.012956508435308933, 0.008131241425871849, -0.025243135169148445, 0.001287646940909326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6273128986358643, 0.8775571584701538, 0.4654777944087982, 0.6419516205787659, 0.1750202625989914, 0.35094746947288513, 0.17054371535778046, 0.04458583518862724, 0.02675219625234604, 0.05271769315004349, 0.05393814668059349, 0.011745305731892586, 0.06120698153972626, 0.05336794629693031, 0.007986901327967644, 0.0038868559058755636, 0.043660376220941544, 0.04461861774325371, 0.010566511191427708, 0.0036784920375794172, 0.04946356639266014, 0.0653596892952919, 0.01001714076846838, 0.0030440485570579767, 0.013737140223383904, 0.029086358845233917, 0.04563530907034874, 0.006124175153672695, 0.004909574054181576, 4.32389497756958, 2.117464065551758, 1.6974962949752808, 1.712322473526001, 0.3607478141784668, 0.7241504788398743, 0.47377124428749084, 0.5729376077651978, 0.9443218111991882, 0.527653694152832, 0.29665419459342957, 0.11895457655191422, 0.8194115161895752, 0.2687402665615082, 0.3689062297344208, 0.09432151913642883, 0.17346268892288208, 0.13007810711860657, 0.02377581223845482, 0.009650744497776031, 0.06440716981887817, 0.0678742378950119, 0.02019079029560089, 0.010042846202850342, 0.045765116810798645, 0.13050585985183716, 0.12349313497543335, 0.07261962443590164, 0.009876783937215805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2437]}, "observation.state.tcp": {"min": [0.3620258867740631, 0.19240771234035492, 0.9541893005371094, -1.326363205909729, 1.2187203168869019, -1.5210282802581787, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.22097429633140564, -0.2818663716316223, 0.9236156344413757, -0.653770923614502, 1.1487199068069458, 0.3906427025794983, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.402420312166214, 0.2511337101459503, 1.0512096881866455, -0.9755110740661621, 1.685058355331421, -1.2020093202590942, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4549267888069153, -0.03431498631834984, 1.1221386194229126, 1.2097245454788208, 1.8803377151489258, 1.4917610883712769, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39022937417030334, 0.2214621752500534, 0.9920369386672974, -1.2398242950439453, 1.5765552520751953, -1.4697868824005127, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3803447484970093, -0.14706818759441376, 1.0350228548049927, -0.20498627424240112, 1.6100558042526245, 0.7147657871246338, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007832915522158146, 0.008462047204375267, 0.022865869104862213, 0.06950484216213226, 0.08859456330537796, 0.04613087326288223, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.058274440467357635, 0.057665180414915085, 0.04560106247663498, 0.2909781038761139, 0.14474843442440033, 0.16187478601932526, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2437]}, "action": {"min": [1.0500274896621704, -0.8570471405982971, -0.22472819685935974, 1.196312665939331, -0.09555923938751221, -0.7688746452331543, 0.3677825927734375, 0.0, 0.0, -0.2738632261753082, 0.0, 0.0, 0.0, -0.09466675668954849, 0.0, 0.0, 0.0, -0.10353204607963562, 0.0, 0.0, 0.0, -0.1097310483455658, 0.0, 0.0, 0.0, 0.0, -0.07949018478393555, 0.0, 0.0, 0.8433824777603149, -1.107712984085083, -0.24313130974769592, 1.0640345811843872, -1.735890507698059, -0.8239428400993347, -0.45376405119895935, 0.0, -0.14499789476394653, -0.24013973772525787, -0.11099123954772949, 0.0, 0.0, -0.10642822831869125, 0.0, 0.0, 0.0, -0.10787010192871094, 0.0, 0.0, 0.0, -0.13739140331745148, 0.0, 0.0, -9.925863686532921e-09, 0.0, -0.15451151132583618, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5439879298210144, -0.0012937685241922736, -1.2599223737197462e-05, -0.005678597837686539, -0.759242057800293], "max": [1.2014371156692505, -0.6765680909156799, -0.0005787232075817883, 1.5691536664962769, 0.2096746563911438, -0.0356573648750782, 0.6385560035705566, 1.4918462038040161, 0.2905751168727875, 0.0, 0.2793976068496704, 0.6578514575958252, 0.4708733558654785, 0.09174533188343048, 0.04036407917737961, 0.03980686888098717, 0.42070794105529785, 0.16930094361305237, 0.06513525545597076, 0.04415109381079674, 0.14145909249782562, 0.1794082522392273, 0.025149254128336906, 0.022661417722702026, 0.26180002093315125, 0.23939873278141022, 0.2429085224866867, 0.044297534972429276, 0.03781590610742569, 1.3615124225616455, -0.3205304741859436, -0.0028460179455578327, 1.786072850227356, 0.26813459396362305, -0.15930935740470886, 0.7479777336120605, 1.4197983741760254, 0.2824818193912506, 0.3741273283958435, 0.26033031940460205, 0.48071667551994324, 1.1471710205078125, 0.13833191990852356, 0.8670024871826172, 0.6025857925415039, 1.4815486669540405, 0.2207072526216507, 1.4926042556762695, 1.1419795751571655, 1.4913994073867798, 0.2220347374677658, 1.5725822448730469, 1.0003844499588013, 0.10429485142230988, 1.2842357158660889, 0.21783772110939026, 1.3783247470855713, 1.4206440448760986, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 4.967279678222312e-20, 1.3412069165497087e-05, 0.11091532558202744, -0.5845867395401001], "mean": [1.1383960247039795, -0.7148240804672241, -0.22239629924297333, 1.2610336542129517, 0.08579089492559433, -0.15507759153842926, 0.4447098672389984, 1.4372503757476807, 0.2838314175605774, -0.17866022884845734, 0.23352548480033875, 0.6337801218032837, 0.4343555271625519, 0.08036857843399048, 0.03781745582818985, 0.03746262565255165, 0.370810866355896, 0.15036273002624512, 0.049912724643945694, 0.040510524064302444, 0.1193903386592865, 0.15041731297969818, 0.0220706295222044, 0.020104646682739258, 0.13591723144054413, 0.21420226991176605, 0.200807124376297, 0.039063263684511185, 0.035451289266347885, 1.1930322647094727, -0.6294841170310974, -0.22182492911815643, 1.3330509662628174, -1.3920341730117798, -0.48425257205963135, -0.006652721669524908, 1.2892720699310303, -0.0299149788916111, 0.08932383358478546, 0.09728050231933594, 0.11259036511182785, 0.8690155148506165, 0.03989115357398987, 0.18598224222660065, 0.20356039702892303, 1.2017155885696411, -0.04308389127254486, 1.3495819568634033, 0.9566062688827515, 1.291682481765747, -0.08887198567390442, 1.414731740951538, 0.7941542267799377, 0.034867238253355026, 1.160445213317871, -0.10654322803020477, 0.8734655380249023, 1.2962092161178589, 0.5626986026763916, -1.106863021850586, 0.5441282391548157, -0.0007935117464512587, 1.2766719237333746e-07, 0.07660849392414093, -0.7290087938308716], "std": [0.03964639827609062, 0.034158263355493546, 0.018322929739952087, 0.06040765345096588, 0.03554421290755272, 0.11177318543195724, 0.053053129464387894, 0.15709640085697174, 0.031531427055597305, 0.03565211966633797, 0.027169696986675262, 0.07414726912975311, 0.06675294786691666, 0.0220247320830822, 0.005272652022540569, 0.005181065294891596, 0.07086872309446335, 0.03485937416553497, 0.009284647181630135, 0.007533383555710316, 0.0264152642339468, 0.03753921389579773, 0.0045957122929394245, 0.004173921886831522, 0.05629928410053253, 0.043916329741477966, 0.03984192758798599, 0.007609719876199961, 0.006937550846487284, 0.10689504444599152, 0.15968313813209534, 0.02351170964539051, 0.18243472278118134, 0.3240365982055664, 0.13262447714805603, 0.19696319103240967, 0.15592892467975616, 0.09034935384988785, 0.14871445298194885, 0.07787732034921646, 0.10276269912719727, 0.20714756846427917, 0.02912932261824608, 0.1482550948858261, 0.15111950039863586, 0.21745406091213226, 0.03432215750217438, 0.3013674318790436, 0.22354307770729065, 0.2521022856235504, 0.044498804956674576, 0.3201002776622772, 0.20779328048229218, 0.015708019956946373, 0.2286900132894516, 0.04748688265681267, 0.2952996790409088, 0.2917880415916443, 1.5186673408607021e-05, 3.336182544444455e-06, 3.2862073567230254e-05, 0.00024786131689324975, 7.12375049261027e-06, 0.020978013053536415, 0.025395557284355164], "count": [2437]}, "observation.state.tcp_pose": {"min": [0.3620258867740631, 0.19240771234035492, 0.9541893005371094, -1.326363205909729, 1.2187203168869019, -1.5210282802581787, 0.22097429633140564, -0.2818663716316223, 0.9236156344413757, -0.653770923614502, 1.1487199068069458, 0.3906427025794983], "max": [0.402420312166214, 0.2511337101459503, 1.0512096881866455, -0.9755110740661621, 1.685058355331421, -1.2020093202590942, 0.4549267888069153, -0.03431498631834984, 1.1221386194229126, 1.2097245454788208, 1.8803377151489258, 1.4917610883712769], "mean": [0.39022937417030334, 0.2214621752500534, 0.9920369386672974, -1.2398242950439453, 1.5765552520751953, -1.4697868824005127, 0.3803447484970093, -0.14706818759441376, 1.0350228548049927, -0.20498627424240112, 1.6100558042526245, 0.7147657871246338], "std": [0.007832915522158146, 0.008462047204375267, 0.022865869104862213, 0.06950484216213226, 0.08859456330537796, 0.04613087326288223, 0.058274440467357635, 0.057665180414915085, 0.04560106247663498, 0.2909781038761139, 0.14474843442440033, 0.16187478601932526], "count": [2437]}, "action.tcp_pose": {"min": [0.3618246614933014, 0.19247427582740784, 0.9541669487953186, -1.3263568878173828, 1.2184230089187622, -1.5210692882537842, 0.2204950749874115, -0.28385794162750244, 0.9235590100288391, -0.6542679667472839, 1.1476707458496094, 0.3905031085014343], "max": [0.4024195373058319, 0.25109851360321045, 1.0515720844268799, -0.9756792187690735, 1.6850216388702393, -1.2029613256454468, 0.454954594373703, -0.03430366516113281, 1.1219863891601562, 1.2089309692382812, 1.8803554773330688, 1.493882656097412], "mean": [0.3902384042739868, 0.2214711308479309, 0.9920288920402527, -1.2398582696914673, 1.5764853954315186, -1.469783067703247, 0.3803459107875824, -0.14729978144168854, 1.0353617668151855, -0.2049400955438614, 1.608841896057129, 0.7146869897842407], "std": [0.007836664095520973, 0.008476265706121922, 0.022887954488396645, 0.06952078640460968, 0.08870554715394974, 0.046114809811115265, 0.05826396495103836, 0.05785169079899788, 0.04565967246890068, 0.2915695309638977, 0.14587430655956268, 0.1624840646982193], "count": [2437]}, "subtask_index": {"min": [54], "max": [494], "mean": [456.17193270414447], "std": [69.43131729394402], "count": [2437]}, "observation.tactile": {"min": [-0.02016071230173111, -4.058899503434077e-05, -8.962802530732006e-05, -0.0017182452138513327, -6.211618892848492e-05, -0.0004478998889680952, -0.003900126088410616, -4.749848085339181e-05, -0.00010884137009270489, -0.0007174427737481892, -9.776162187336013e-06, -9.255938493879512e-05, -0.004523899406194687, -5.037177470512688e-05, -0.00011336602619849145, -0.0015640106284990907, -1.385716132062953e-05, -0.00012012885417789221, -0.01496294979006052, -3.179686609655619e-05, -6.97994910296984e-05, -0.0014211010420694947, -1.3914051123720128e-05, -0.00034260607208125293, -0.0022413493134081364, -5.0757575081661344e-05, -0.00011475104838609695, -0.000260818749666214, -2.2902233467902988e-05, -3.6422836274141446e-05, -5.3031768798828125, -3.8604397559538484e-05, -8.63576351548545e-05, -0.31667396426200867, -0.03235191851854324, -0.11044950783252716, -4.900540828704834, -0.26275965571403503, -0.00010515556641621515, -0.20238320529460907, -0.026548486202955246, -0.0805281475186348, -0.10283958166837692, -4.6308483433676884e-05, -0.00010180698882322758, -0.0011733995052054524, -0.0003057989524677396, -0.0021611847914755344, -0.012006241828203201, -5.614843757939525e-05, -0.000126706509036012, -0.0017398466588929296, -2.2375879780156538e-05, -0.0002579299616627395, -0.23531588912010193, -3.969857789343223e-05, -8.716767479199916e-05, -0.0011177067644894123, -0.0002830977027770132, -0.0030424895230680704], "max": [0.002821291796863079, 0.028072968125343323, 0.08248140662908554, 1.7080853922379902e-06, 0.00026084351702593267, 6.758163181075361e-06, 0.007148695643991232, 0.014419954270124435, 0.04340006411075592, 1.8685227587411646e-06, 0.0002452978806104511, 3.930130696971901e-05, 0.04131289944052696, 0.028877949342131615, 0.08901794999837875, 2.1317098344297847e-06, 0.00043397716945037246, 0.0006147475214675069, 0.03060854971408844, 0.024860011413693428, 0.0756182074546814, 1.297104745390243e-06, 0.00038032818702049553, 0.00033962880843319, 0.001043675234541297, 0.005986921954900026, 0.017765076830983162, 2.149117790395394e-06, 6.59115394228138e-05, 8.241580871981569e-06, 7.076198101043701, 10.992886543273926, 18.142658233642578, 1.595395474396355e-06, 0.061526063829660416, 0.102361761033535, 0.04599420353770256, 8.22412109375, 11.518104553222656, 1.987692030525068e-06, 0.006486613303422928, 0.00046995931188575923, 0.002706155413761735, 0.02120201848447323, 0.06016665697097778, 1.8659724219105556e-06, 0.0001153819976025261, 1.3711196515941992e-05, 0.006819532718509436, 0.028061045333743095, 0.08208157867193222, 2.303995643160306e-06, 0.00019101078214589506, 7.300849392777309e-05, 0.0037236602511256933, 0.03332856670022011, 0.0680665522813797, 1.6267989622065215e-06, 0.00017902546096593142, 6.123833736637607e-05], "mean": [-0.0014934951905161142, 0.002574639394879341, 0.007771012838929892, -0.00014399213250726461, 1.3277413017931394e-06, -2.7540898372535594e-05, 0.0001674206432653591, 0.000715662376023829, 0.0021457038819789886, -3.679620203911327e-05, 1.1065608305216301e-05, -9.481398706157051e-07, 0.004463313613086939, 0.006820864975452423, 0.020719505846500397, -0.00037199133657850325, 8.99477454368025e-05, 5.140500798006542e-05, 0.0005502368439920247, 0.0026750864926725626, 0.007803553249686956, -0.00011046939471270889, 2.8354210371617228e-05, -2.5394342628715094e-06, 0.00032137896050699055, 6.865814793854952e-05, 0.00022339507995638996, -2.8658821520366473e-06, -1.5485150015592808e-06, 6.964992735447595e-06, 1.014244556427002, 2.6762185096740723, 5.426185607910156, -0.08993954956531525, 0.004166517872363329, 0.016915781423449516, -1.325067400932312, 0.7283260226249695, 3.292618751525879, -0.053827978670597076, -0.003852409776300192, -0.020005106925964355, -0.0006091997493058443, 0.0012786465231329203, 0.0038144674617797136, -7.345077028730884e-05, 7.215614459710196e-06, -1.419110776623711e-05, -7.470702257705852e-05, 0.00309102819301188, 0.009319287724792957, -0.00014475795614998788, 2.7627187591861002e-05, -1.0225453479506541e-05, -0.0004681156133301556, 0.0018927333876490593, 0.005560583900660276, -0.00010693998046917841, 1.1839966646221e-05, -1.0635520993673708e-05], "std": [0.0031637526117265224, 0.004546211566776037, 0.013582502491772175, 0.000277534534689039, 2.5225370336556807e-05, 6.464297621278092e-05, 0.0005785749526694417, 0.0017959813121706247, 0.005327204242348671, 9.003596642287448e-05, 3.1729683541925624e-05, 1.3491869140125345e-05, 0.006547088734805584, 0.006891738157719374, 0.021386081352829933, 0.00038629656773991883, 9.217928891303018e-05, 9.591754496796057e-05, 0.0029114303179085255, 0.0039010748732835054, 0.011496678926050663, 0.00017142784781754017, 4.947300476487726e-05, 3.90384993806947e-05, 0.00020897979266010225, 0.00047892628936097026, 0.0013656081864610314, 2.0283268895582296e-05, 4.586055183608551e-06, 3.7263694139255676e-06, 1.6764239072799683, 3.0318381786346436, 5.998818397521973, 0.10101232677698135, 0.013818285427987576, 0.030491366982460022, 1.5219594240188599, 1.0530385971069336, 3.641361713409424, 0.060095783323049545, 0.0061149210669100285, 0.023405035957694054, 0.002733917674049735, 0.003028247505426407, 0.008895376697182655, 0.00017094895883928984, 2.021164254983887e-05, 5.902778138988651e-05, 0.000986198429018259, 0.0039021361153572798, 0.011575927026569843, 0.00020462929387576878, 3.4365992178209126e-05, 2.419954580545891e-05, 0.00694909505546093, 0.0025031999684870243, 0.007041194010525942, 0.00014011502207722515, 1.8476141121936962e-05, 9.347788000013679e-05], "count": [2437]}, "timestamp": {"min": [0.0], "max": [81.2], "mean": [40.6], "std": [23.450041459333168], "count": [2437]}, "frame_index": {"min": [0], "max": [2436], "mean": [1218.0], "std": [703.501243779995], "count": [2437]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [2437]}, "index": {"min": [20735], "max": [23171], "mean": [21953.0], "std": [703.501243779995], "count": [2437]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2437]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5685415863990784]], [[0.5684560537338257]], [[0.5693168640136719]]], "std": [[[0.3038041889667511]], [[0.3038273751735687]], [[0.30464568734169006]]], "count": [2437]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30170416831970215]], [[0.30577823519706726]], [[0.3045824468135834]]], "std": [[[0.18145161867141724]], [[0.1823485940694809]], [[0.18329238891601562]]], "count": [2437]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30923718214035034]], [[0.31338629126548767]], [[0.31002506613731384]]], "std": [[[0.1848948895931244]], [[0.1841067522764206]], [[0.18355092406272888]]], "count": [2437]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5722987055778503]], [[0.5723711252212524]], [[0.5728570818901062]]], "std": [[[0.3082393407821655]], [[0.3080056607723236]], [[0.3090817332267761]]], "count": [2437]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6352941393852234]], [[0.6352941393852234]], [[0.6352941393852234]]], "mean": [[[0.002766815945506096]], [[0.002766815945506096]], [[0.002766815945506096]]], "std": [[[0.03237128630280495]], [[0.03237128630280495]], [[0.03237128630280495]]], "count": [2437]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49253708124160767]], [[0.49253708124160767]], [[0.49253708124160767]]], "std": [[[0.22269338369369507]], [[0.22269338369369507]], [[0.22269338369369507]]], "count": [2437]}}}
+{"episode_index": 9, "stats": {"observation.state": {"min": [1.0500001907348633, -0.798102617263794, -0.22454231977462769, 1.1905097961425781, -0.09584467858076096, -0.7699997425079346, 0.39147621393203735, 0.006895538419485092, -0.00021988405205775052, -0.2622010409832001, 0.005611278582364321, 0.003489607712253928, 0.003672353457659483, -0.03596452623605728, 0.0034842893946915865, 0.0008340784697793424, -0.00327592552639544, -0.01987437531352043, 0.00308540603145957, 0.0008433902985416353, -0.0032261270098388195, -0.0077563440427184105, 0.002792537212371826, 0.0008331916178576648, 0.005430947989225388, -0.0027933954261243343, -0.00386149063706398, 0.0024393927305936813, 0.0008713259594514966, 0.9386050701141357, -1.1172657012939453, -0.24294708669185638, 1.0739881992340088, -1.8580365180969238, -0.8413754105567932, -0.3903597593307495, 0.00545879453420639, -0.18199722468852997, -0.2134104073047638, -0.0936264842748642, 0.0052709318697452545, 0.005340244621038437, -0.10529668629169464, 0.0035030811559408903, 0.0008136810502037406, 0.005295597482472658, -0.1148533895611763, 0.006415460724383593, 0.0008620141306892037, -0.0017930008471012115, -0.15216301381587982, 0.003948057536035776, 0.0012265077093616128, 0.006562306545674801, -0.001616130000911653, -0.1717880815267563, 0.005723708309233189, 0.0013613082701340318, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.000862864195369184, -9.58738019107841e-05, -0.0001917476038215682, -0.743884801864624], "max": [1.2244259119033813, -0.6403600573539734, -0.0, 1.56999933719635, 0.12700605392456055, -0.13284489512443542, 0.6327089667320251, 1.4388713836669922, 0.29416346549987793, -0.0007629184401594102, 0.2541685998439789, 0.5697427988052368, 0.5990504026412964, 0.10182918608188629, 0.04255570098757744, 0.045484546571969986, 0.5133174657821655, 0.19102638959884644, 0.05237709358334541, 0.04542335495352745, 0.21671324968338013, 0.200353741645813, 0.022417237982153893, 0.022424781695008278, 0.24895234405994415, 0.3585313558578491, 0.2636975646018982, 0.12238802015781403, 0.04542335495352745, 1.3888788223266602, -0.31130900979042053, -0.0004035088641103357, 1.8415504693984985, 0.13918060064315796, -0.14930403232574463, 0.6981732249259949, 1.3740830421447754, 0.2746434807777405, 0.503562867641449, 0.2901153564453125, 0.36356592178344727, 1.1687089204788208, 0.09433118253946304, 0.49846363067626953, 0.34389662742614746, 1.3133474588394165, 0.19163036346435547, 1.4441537857055664, 0.829672634601593, 1.418790578842163, 0.18794476985931396, 1.5918805599212646, 1.125120759010315, 0.10926008969545364, 1.3758306503295898, 0.17319771647453308, 1.5047920942306519, 1.31084144115448, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.0005752427969127893, 9.58738019107841e-05, 0.12425244599580765, -0.548877477645874], "mean": [1.15411376953125, -0.6947191953659058, -0.22215543687343597, 1.2532193660736084, -0.014993718825280666, -0.23023536801338196, 0.4803707003593445, 1.3609044551849365, 0.2768186032772064, -0.20207089185714722, 0.20255281031131744, 0.5017706751823425, 0.5428999662399292, 0.08709690719842911, 0.03820297122001648, 0.039719726890325546, 0.39864465594291687, 0.1587074100971222, 0.04451368376612663, 0.0380139984190464, 0.14624576270580292, 0.16367778182029724, 0.017475450411438942, 0.015811700373888016, 0.15169748663902283, 0.25722262263298035, 0.21336683630943298, 0.0522301122546196, 0.034225814044475555, 1.1914424896240234, -0.6199018359184265, -0.21250788867473602, 1.3383121490478516, -1.455627679824829, -0.5064481496810913, -0.0894727036356926, 1.2563471794128418, -0.08819051831960678, 0.1931343823671341, 0.1430303007364273, 0.09632027894258499, 0.894717812538147, 0.049661293625831604, 0.25156423449516296, 0.15299566090106964, 1.1901832818984985, -0.05244570970535278, 1.3134636878967285, 0.6169547438621521, 1.3115934133529663, -0.10028685629367828, 1.4319707155227661, 0.8230912089347839, 0.025277355685830116, 1.2132723331451416, -0.11833609640598297, 1.0677490234375, 1.25198233127594, 0.5626963376998901, -1.106860876083374, 0.5441080331802368, -0.000253507518209517, 0.0, 0.08324236422777176, -0.6784265637397766], "std": [0.047215115278959274, 0.031759146600961685, 0.019463447853922844, 0.056313496083021164, 0.02194848842918873, 0.08714763820171356, 0.059211764484643936, 0.14167645573616028, 0.030612893402576447, 0.03556990623474121, 0.02162369154393673, 0.09478964656591415, 0.07912115752696991, 0.01963844709098339, 0.004966336768120527, 0.005109620746225119, 0.1431434601545334, 0.03846101835370064, 0.012375115416944027, 0.010929361917078495, 0.08534857630729675, 0.04223060980439186, 0.007249001879245043, 0.008799766190350056, 0.06313128769397736, 0.13969537615776062, 0.03200618922710419, 0.026968855410814285, 0.016081109642982483, 0.11358551681041718, 0.16926610469818115, 0.02393374592065811, 0.1969083696603775, 0.32450494170188904, 0.1332317739725113, 0.19992917776107788, 0.1446603238582611, 0.08049112558364868, 0.18147602677345276, 0.07456334680318832, 0.07895928621292114, 0.17574813961982727, 0.026092203333973885, 0.12104852497577667, 0.07768984884023666, 0.2162824422121048, 0.02964748814702034, 0.2695876657962799, 0.14467404782772064, 0.2559230327606201, 0.04145770147442818, 0.2957007884979248, 0.22235111892223358, 0.00805894285440445, 0.23989181220531464, 0.04342246428132057, 0.2440866380929947, 0.25684165954589844, 4.967695349478163e-05, 3.275258495705202e-05, 5.7335659221280366e-05, 0.0004050309653393924, 2.617120344439172e-06, 0.02875363826751709, 0.0424150750041008], "count": [2684]}, "observation.state.joint_torque": {"min": [-30.859500885009766, -2.1570000648498535, -15.597000122070312, -6.00600004196167, -0.20160000026226044, -0.6119999885559082, 1.2231999635696411, -0.6571401953697205, -0.28909075260162354, -0.3342835009098053, -0.30321624875068665, -0.22579483687877655, -0.45094820857048035, -0.5468946099281311, -0.10791664570569992, -0.039956167340278625, -0.36075854301452637, -0.2552174925804138, -0.13448072969913483, -0.0321076326072216, -0.30606910586357117, -0.40585336089134216, -0.13614100217819214, -0.03638865053653717, -0.12050550431013107, -0.33965033292770386, -0.4854889214038849, -0.11787818372249603, -0.0321076326072216, 9.977999687194824, -5.290500164031982, 2.921999931335449, -10.13700008392334, -2.0327999591827393, -1.516800045967102, -3.180799961090088, -1.1894747018814087, -1.4620095491409302, -0.6337716579437256, -0.9581136107444763, -0.07637178897857666, -0.4020155072212219, -0.9709778428077698, -0.12119869887828827, -0.06278826296329498, -1.1715058088302612, -0.9661804437637329, -0.17100638151168823, -0.04352368041872978, -0.34156927466392517, -0.3665153384208679, -0.1145576685667038, -0.06920978426933289, -0.13809753954410553, -0.36843428015708923, -0.506597101688385, -0.7072691321372986, -0.03710215538740158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.101499557495117, 6.997499942779541, -10.595000267028809, 0.4180000126361847, 1.3495999574661255, 0.9911999702453613, 2.38319993019104, 1.031557321548462, 0.3222024738788605, 0.3603799641132355, 0.2895466685295105, 0.12617947161197662, 0.3828262388706207, 0.25905534625053406, 0.09463459998369217, 0.015697065740823746, 0.37323158979415894, 0.22547408938407898, 0.16270509362220764, 0.012843053787946701, 0.4950835406780243, 0.35883963108062744, 0.09463459998369217, 0.014983562752604485, 0.05365573614835739, 0.22835248708724976, 0.34924498200416565, 0.09961536526679993, 0.014983562752604485, 35.30400085449219, 10.557000160217285, 20.20400047302246, 0.8799999952316284, 0.7608000040054321, 4.098400115966797, 0.5407999753952026, 2.456634521484375, 4.454799175262451, 2.7289462089538574, 1.33340585231781, 0.6989678740501404, 2.145362138748169, 0.6438004970550537, 1.0575830936431885, 0.21405088901519775, 0.5181106925010681, 0.23123086988925934, 0.19258970022201538, 0.04780469834804535, 0.5680028200149536, 0.27344730496406555, 0.08633331209421158, 0.039242662489414215, 0.13677813112735748, 0.4260021448135376, 0.6351653337478638, 0.15274357795715332, 0.0763448178768158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.70612335205078, 2.2226829528808594, -13.47000789642334, -2.0245635509490967, 0.18824371695518494, 0.052522819489240646, 1.7084141969680786, -0.0029821605421602726, -0.000932363560423255, 0.016079558059573174, -0.0005004953127354383, 0.004333137068897486, 0.010531258769333363, 0.005819638725370169, 0.0007602291880175471, 0.00020416118786670268, 0.003092862432822585, 0.005140490364283323, -0.0009352858178317547, -8.559870911994949e-05, 0.020429428666830063, 0.018685605376958847, 0.00021526419732253999, -0.000853332516271621, -0.0025662165135145187, 0.012879493646323681, -0.008410299196839333, -0.0012278712820261717, -0.00026902585523203015, 26.73705291748047, 0.8037694096565247, 12.659893989562988, -2.6876349449157715, -0.6502322554588318, 1.6156710386276245, -0.8706862330436707, 0.24358785152435303, 0.8850545883178711, 0.35960084199905396, 0.09203730523586273, 0.10872888565063477, 0.6446983218193054, -0.16789554059505463, 0.28498587012290955, 0.07112232595682144, -0.08063578605651855, -0.11270483583211899, 0.001514891628175974, -0.0004577686486300081, 0.0011721478076651692, -0.0011757438769564033, -0.0028924543876200914, -0.0017308538081124425, 0.0009585827938281, -0.026775280013680458, 0.018018515780568123, -0.018658064305782318, 0.0015298861544579268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6506967544555664, 0.8050920367240906, 0.5194891095161438, 0.6321834325790405, 0.15983057022094727, 0.3096645772457123, 0.15816879272460938, 0.04984251782298088, 0.03251718357205391, 0.053041696548461914, 0.04817197099328041, 0.014050072059035301, 0.06021040678024292, 0.05136340484023094, 0.008315784856677055, 0.0040226769633591175, 0.04978267848491669, 0.0350104384124279, 0.012722307816147804, 0.0034489480312913656, 0.05480245500802994, 0.0647076889872551, 0.005459751468151808, 0.0048488834872841835, 0.011052791960537434, 0.042178716510534286, 0.0667489692568779, 0.009023580700159073, 0.003935716114938259, 4.5791449546813965, 2.0936665534973145, 1.5759555101394653, 1.8700928688049316, 0.3511864244937897, 0.6743425726890564, 0.43487539887428284, 0.6319091320037842, 1.0560039281845093, 0.5147969722747803, 0.2895512878894806, 0.14133605360984802, 0.7634264230728149, 0.2999178469181061, 0.3168542683124542, 0.07614380121231079, 0.17270292341709137, 0.1686941683292389, 0.02130567468702793, 0.008888664655387402, 0.0633087232708931, 0.05829313024878502, 0.016921868547797203, 0.009021596983075142, 0.016695622354745865, 0.11535048484802246, 0.09915243089199066, 0.05057883635163307, 0.0049962871707975864, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2684]}, "observation.state.tcp": {"min": [0.36165380477905273, 0.192428320646286, 0.9673810005187988, -1.209829568862915, 1.2178399562835693, -1.5008574724197388, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23389172554016113, -0.28640004992485046, 0.9543450474739075, -0.48540931940078735, 1.191509485244751, 0.43301692605018616, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.40932372212409973, 0.23271849751472473, 1.053043007850647, -0.9152798056602478, 1.6434247493743896, -1.22893226146698, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45293185114860535, -0.0430041141808033, 1.125956654548645, 1.2085756063461304, 1.8306915760040283, 1.5416383743286133, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39730411767959595, 0.21441902220249176, 1.0032258033752441, -1.0875039100646973, 1.5523428916931152, -1.4239766597747803, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38199707865715027, -0.14272426068782806, 1.0400266647338867, -0.19740909337997437, 1.581108570098877, 0.6566674113273621, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008750537410378456, 0.007752982899546623, 0.022820541635155678, 0.04477531090378761, 0.06596888601779938, 0.04621987044811249, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06154000759124756, 0.054117534309625626, 0.047109395265579224, 0.26652291417121887, 0.13775694370269775, 0.1738625019788742, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2684]}, "action": {"min": [1.0499999523162842, -0.7981758117675781, -0.2245364487171173, 1.1905168294906616, -0.09584004431962967, -0.7699999809265137, 0.39148029685020447, 0.0, 0.0, -0.2714393436908722, 0.0, 0.0, 0.0, -0.0360242985188961, 0.0, 0.0, 0.0, -0.024861615151166916, 0.0, 0.0, 0.0, -0.019856642931699753, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9386066198348999, -1.1181236505508423, -0.24293050169944763, 1.0739856958389282, -1.8580372333526611, -0.8416029810905457, -0.3903549909591675, 0.0, -0.1816142052412033, -0.21312829852104187, -0.09248287975788116, 0.0, 0.0, -0.10657573491334915, 0.0, 0.0, 0.0, -0.11572140455245972, 0.0, 0.0, 0.0, -0.1547854095697403, 0.0, 0.0, -7.923175004975747e-09, 0.0, -0.17246046662330627, 0.0, 0.0, 0.5625877380371094, -1.1069587469100952, 0.543944239616394, -0.0007958090282045305, -3.907838254235685e-05, 1.7759437470567027e-18, -0.7438381314277649], "max": [1.224778652191162, -0.6403566598892212, 0.0, 1.5700000524520874, 0.12698473036289215, -0.1328604519367218, 0.6326545476913452, 1.4470694065093994, 0.2900480628013611, 0.0, 0.26987895369529724, 0.5741949081420898, 0.6055589914321899, 0.10611007362604141, 0.04808924347162247, 0.04682600870728493, 0.5235717296600342, 0.1916261464357376, 0.06103063374757767, 0.04908748343586922, 0.22205795347690582, 0.20563258230686188, 0.02897990494966507, 0.0276138074696064, 0.26180002093315125, 0.367563396692276, 0.2634713649749756, 0.12841923534870148, 0.04912303760647774, 1.3888782262802124, -0.31129759550094604, -0.001505472813732922, 1.8417377471923828, 0.13940051198005676, -0.14914602041244507, 0.7426244020462036, 1.3794225454330444, 0.2893276512622833, 0.5058180689811707, 0.2902126908302307, 0.36687153577804565, 1.1837202310562134, 0.0841660127043724, 0.5134069919586182, 0.3584871292114258, 1.330592155456543, 0.19511164724826813, 1.447701096534729, 0.8310215473175049, 1.4252371788024902, 0.18993155658245087, 1.5978883504867554, 1.1261800527572632, 0.11695518344640732, 1.382736086845398, 0.17750661075115204, 1.5077518224716187, 1.460560917854309, 0.5626999735832214, -1.106863021850586, 0.5442588925361633, 0.0005674970452673733, 5.512973802979104e-05, 0.12416326254606247, -0.5469772815704346], "mean": [1.1541684865951538, -0.6947363018989563, -0.22217144072055817, 1.2532742023468018, -0.01502138003706932, -0.2303561568260193, 0.48039111495018005, 1.3695526123046875, 0.2778903543949127, -0.2014193832874298, 0.20269916951656342, 0.5070542693138123, 0.5470670461654663, 0.0892714187502861, 0.04462522268295288, 0.04350988566875458, 0.40214481949806213, 0.16201931238174438, 0.04909154400229454, 0.04059943929314613, 0.1483817994594574, 0.16809843480587006, 0.02053295448422432, 0.019623983651399612, 0.1474194973707199, 0.2618634104728699, 0.21519233286380768, 0.0523652657866478, 0.037697967141866684, 1.1918678283691406, -0.620833158493042, -0.21252338588237762, 1.3390822410583496, -1.4552524089813232, -0.506851315498352, -0.0892719030380249, 1.2564082145690918, -0.0849158987402916, 0.19317471981048584, 0.14358729124069214, 0.09788629412651062, 0.9005575180053711, 0.04511956125497818, 0.25451499223709106, 0.15500743687152863, 1.188257098197937, -0.05228674039244652, 1.3133652210235596, 0.6167680621147156, 1.3098387718200684, -0.09930390119552612, 1.430723786354065, 0.8228133916854858, 0.030853867530822754, 1.2109566926956177, -0.11765308678150177, 1.065105676651001, 1.3441218137741089, 0.5627023577690125, -1.1068694591522217, 0.5441411137580872, -0.0002749488630797714, -7.485324715617026e-08, 0.08328329771757126, -0.6784704327583313], "std": [0.04720791429281235, 0.0317765474319458, 0.019397079944610596, 0.056413572281599045, 0.021937264129519463, 0.08751886337995529, 0.05921706557273865, 0.15431244671344757, 0.03293859586119652, 0.03922856226563454, 0.02487822435796261, 0.09783171862363815, 0.08093739300966263, 0.01951141096651554, 0.005833948031067848, 0.005687928758561611, 0.1438668966293335, 0.03848873823881149, 0.01409470196813345, 0.011214775033295155, 0.08747798949480057, 0.041045352816581726, 0.010752939619123936, 0.01023829821497202, 0.07515967637300491, 0.14162111282348633, 0.03305339068174362, 0.025442617014050484, 0.016148541122674942, 0.11341218650341034, 0.16998715698719025, 0.023872606456279755, 0.1974438577890396, 0.3268924653530121, 0.1337929368019104, 0.20131228864192963, 0.15216702222824097, 0.08301149308681488, 0.1817278116941452, 0.07466068118810654, 0.07899638265371323, 0.1812167465686798, 0.023559143766760826, 0.12214822322130203, 0.07830462604761124, 0.2166524976491928, 0.030340302735567093, 0.2700456380844116, 0.14476118981838226, 0.2558998167514801, 0.04140228033065796, 0.29608964920043945, 0.22251150012016296, 0.009950987994670868, 0.23962712287902832, 0.04338416829705238, 0.24437902867794037, 0.278213232755661, 1.957542735908646e-05, 8.233771040977444e-06, 3.7997946492396295e-05, 0.0004378764715511352, 5.804815828014398e-06, 0.02878245711326599, 0.042475610971450806], "count": [2684]}, "observation.state.tcp_pose": {"min": [0.36165380477905273, 0.192428320646286, 0.9673810005187988, -1.209829568862915, 1.2178399562835693, -1.5008574724197388, 0.23389172554016113, -0.28640004992485046, 0.9543450474739075, -0.48540931940078735, 1.191509485244751, 0.43301692605018616], "max": [0.40932372212409973, 0.23271849751472473, 1.053043007850647, -0.9152798056602478, 1.6434247493743896, -1.22893226146698, 0.45293185114860535, -0.0430041141808033, 1.125956654548645, 1.2085756063461304, 1.8306915760040283, 1.5416383743286133], "mean": [0.39730411767959595, 0.21441902220249176, 1.0032258033752441, -1.0875039100646973, 1.5523428916931152, -1.4239766597747803, 0.38199707865715027, -0.14272426068782806, 1.0400266647338867, -0.19740909337997437, 1.581108570098877, 0.6566674113273621], "std": [0.008750537410378456, 0.007752982899546623, 0.022820541635155678, 0.04477531090378761, 0.06596888601779938, 0.04621987044811249, 0.06154000759124756, 0.054117534309625626, 0.047109395265579224, 0.26652291417121887, 0.13775694370269775, 0.1738625019788742], "count": [2684]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.1924280971288681, 0.9672718048095703, -1.208855390548706, 1.2178406715393066, -1.5008996725082397, 0.23390813171863556, -0.2875141203403473, 0.9543420672416687, -0.4859599769115448, 1.1818006038665771, 0.4330011308193207], "max": [0.4093085527420044, 0.23270702362060547, 1.0531158447265625, -0.9152794480323792, 1.6434859037399292, -1.2289543151855469, 0.45292940735816956, -0.042992155998945236, 1.1258175373077393, 1.2082961797714233, 1.8310279846191406, 1.5419784784317017], "mean": [0.3973136246204376, 0.21441961824893951, 1.0032297372817993, -1.087463617324829, 1.552292823791504, -1.4239251613616943, 0.38195979595184326, -0.143000066280365, 1.0402995347976685, -0.19679248332977295, 1.5796970129013062, 0.6568781733512878], "std": [0.008753146044909954, 0.00775904068723321, 0.02284022606909275, 0.044741883873939514, 0.06613050401210785, 0.046310193836688995, 0.06154211238026619, 0.05433902516961098, 0.04720928892493248, 0.2681652307510376, 0.13971766829490662, 0.17528094351291656], "count": [2684]}, "subtask_index": {"min": [54], "max": [559], "mean": [511.9076005961252], "std": [79.58477161917688], "count": [2684]}, "observation.tactile": {"min": [-0.014811942353844643, -4.10866632591933e-05, -8.946552406996489e-05, -0.0017430526204407215, -5.8321707911090925e-05, -0.0003522602783050388, -0.003834472270682454, -4.9261845560977235e-05, -0.00011348926636856049, -0.0009659624774940312, -1.4504019418382086e-05, -6.183824734762311e-05, -0.01060360949486494, -4.84412485093344e-05, -0.00010718278645072132, -0.0010414065327495337, -5.703695205738768e-05, -0.00019858512678183615, -0.011533848010003567, -3.507907240418717e-05, -7.59456743253395e-05, -0.0008783182129263878, -7.94789957581088e-06, -0.00025895723956637084, -0.011003154329955578, -4.679425910580903e-05, -0.00010528370330575854, -0.0014501422410830855, -4.732774686999619e-05, -0.00025237008230760694, -3.8914246559143066, -4.115174670005217e-05, -9.465766197536141e-05, -0.21669192612171173, -0.011093064211308956, -0.0650508776307106, -7.084893226623535, -4.6883771574357525e-05, -0.00010896885942202061, -0.17476490139961243, -0.017174990847706795, -0.09833031892776489, -0.011797894723713398, -4.657204408431426e-05, -0.00010125047992914915, -0.0015912649687379599, -8.957091631600633e-05, -0.00027144874911755323, -0.00873533170670271, -4.848617027164437e-05, -0.00010952341108350083, -0.0013930818531662226, -4.68469261249993e-05, -0.00021015689708292484, -0.03451365604996681, -4.51689338660799e-05, -9.937522554537281e-05, -0.0009888794738799334, -1.3874036085326225e-05, -0.0004261127032805234], "max": [0.015055262483656406, 0.0270353052765131, 0.07782039046287537, 1.7090742403524928e-06, 0.0003539705940056592, 0.00020438815408851951, 0.00887607503682375, 0.019471900537610054, 0.056253157556056976, 1.942361222972977e-06, 0.00029962300322949886, 4.974871626473032e-05, 0.017408868297934532, 0.018025081604719162, 0.05686091631650925, 2.001055008804542e-06, 0.0003127837262582034, 0.00023345992667600513, 0.0037111062556505203, 0.01652977615594864, 0.046726275235414505, 1.4056423651709338e-06, 0.00011422175884945318, 3.5382050555199385e-05, 0.0018157660961151123, 0.025298787280917168, 0.07255490869283676, 1.983701622521039e-06, 0.00013676140224561095, 7.582493708468974e-06, 3.7961552143096924, 5.960070610046387, 12.871792793273926, 1.7450756786274724e-06, 0.025149542838335037, 0.056349337100982666, 0.0003754053032025695, 5.661331653594971, 13.600397109985352, 2.0391723865031963e-06, 0.008304590359330177, 0.0005223647458478808, 0.01588907092809677, 0.025648517534136772, 0.07489694654941559, 1.8616455008668709e-06, 0.00021442770957946777, 0.00020746569498442113, 0.010398050770163536, 0.02759588323533535, 0.07779105007648468, 1.964989678526763e-06, 0.000251238961936906, 0.00010265232413075864, 0.0059263501316308975, 0.015983544290065765, 0.04555967450141907, 1.826208517741179e-06, 0.00017202943854499608, 8.88798022060655e-05], "mean": [-0.0007253517978824675, 0.0025257861707359552, 0.007516774814575911, -0.000135560825583525, 1.173092005046783e-05, -1.6304600649164058e-05, 0.000284529582131654, 0.00027337769279256463, 0.0008273114799521863, -1.4237392861105036e-05, 2.239552259197808e-06, 4.300022283132421e-06, 0.0003323726123198867, 0.0009806082816794515, 0.002941876882687211, -5.351628715288825e-05, 8.49183834361611e-06, 3.6099077078688424e-06, 7.302287122001871e-05, 0.0006859285640530288, 0.002004023175686598, -2.654533091117628e-05, 4.406015250424389e-06, 6.429855829992448e-07, -0.00026489264564588666, 0.0014494808856397867, 0.0042291563004255295, -7.72122002672404e-05, 8.594435712439008e-06, -7.52783262214507e-06, 0.6684778928756714, 1.7212826013565063, 3.6932499408721924, -0.06547925621271133, 0.0009005224565044045, 0.011940417811274529, -1.8954859972000122, 1.0420098304748535, 3.7196600437164307, -0.05269182100892067, -0.003406423842534423, -0.025972502306103706, -0.0012691915035247803, 0.0042184083722531796, 0.012378782033920288, -0.00025710114277899265, 3.1105626021599164e-06, -2.825428055075463e-05, 5.313250585459173e-05, 0.0047241151332855225, 0.013887664303183556, -0.0002496886590961367, 3.437590930843726e-05, -1.3580178347183391e-05, 3.153794023091905e-05, 0.004025369882583618, 0.011674324050545692, -0.00024657638277858496, 3.9483391446992755e-05, -1.2929476724821143e-05], "std": [0.0024640834890305996, 0.0042502181604504585, 0.012496131472289562, 0.00025459507014602423, 3.920327435480431e-05, 4.776812784257345e-05, 0.0003445813781581819, 0.0012223792728036642, 0.0035630117636173964, 6.15515309618786e-05, 1.828723179642111e-05, 7.345760423049796e-06, 0.001498060068115592, 0.0023114760406315327, 0.00694864010438323, 0.00012782581325154752, 3.630650826380588e-05, 2.0149753254372627e-05, 0.0006085603963583708, 0.0019930857233703136, 0.005665996111929417, 7.4813149694819e-05, 1.575737951498013e-05, 1.2701726518571377e-05, 0.0013932955916970968, 0.003272546222433448, 0.009450140409171581, 0.00018031225772574544, 2.1536929125431925e-05, 3.1977422622730955e-05, 0.9137819409370422, 1.694091796875, 3.5935041904449463, 0.0649910643696785, 0.005234159529209137, 0.01664305105805397, 1.932905673980713, 1.1070457696914673, 3.6218528747558594, 0.050845738500356674, 0.004846595227718353, 0.026478184387087822, 0.002115242648869753, 0.004946751985698938, 0.014430668205022812, 0.00030487668118439615, 3.0600993341067806e-05, 3.872935485560447e-05, 0.0011321308556944132, 0.004244029056280851, 0.012336285784840584, 0.00026321079349145293, 3.392104190425016e-05, 2.018893792410381e-05, 0.001084129442460835, 0.0033722450025379658, 0.009685267694294453, 0.00020695508283097297, 3.514663330861367e-05, 1.9007060473086312e-05], "count": [2684]}, "timestamp": {"min": [0.0], "max": [89.43333333333334], "mean": [44.71666666666667], "std": [25.8268002491813], "count": [2684]}, "frame_index": {"min": [0], "max": [2683], "mean": [1341.5], "std": [774.8040074754389], "count": [2684]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2684]}, "index": {"min": [23172], "max": [25855], "mean": [24513.5], "std": [774.8040074754389], "count": [2684]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2684]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5529119968414307]], [[0.5528636574745178]], [[0.5540023446083069]]], "std": [[[0.29470720887184143]], [[0.2945302724838257]], [[0.2955832779407501]]], "count": [2684]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3012271821498871]], [[0.3054640591144562]], [[0.30419233441352844]]], "std": [[[0.18032680451869965]], [[0.1812009960412979]], [[0.1820160150527954]]], "count": [2684]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30953535437583923]], [[0.3135158121585846]], [[0.30998483300209045]]], "std": [[[0.18525011837482452]], [[0.18457168340682983]], [[0.18383267521858215]]], "count": [2684]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5553693175315857]], [[0.5554084181785583]], [[0.5562028288841248]]], "std": [[[0.29940488934516907]], [[0.2990500032901764]], [[0.30022862553596497]]], "count": [2684]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5529412031173706]], [[0.5529412031173706]], [[0.5529412031173706]]], "mean": [[[0.003009355627000332]], [[0.003009355627000332]], [[0.003009355627000332]]], "std": [[[0.032469019293785095]], [[0.032469019293785095]], [[0.032469019293785095]]], "count": [2684]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4927738308906555]], [[0.4927738308906555]], [[0.4927738308906555]]], "std": [[[0.22257612645626068]], [[0.22257612645626068]], [[0.22257612645626068]]], "count": [2684]}}}
+{"episode_index": 10, "stats": {"observation.state": {"min": [1.0444804430007935, -0.8432919383049011, -0.22473321855068207, 1.27390718460083, -0.12329082936048508, -0.7700002193450928, 0.31879034638404846, 0.006550806574523449, -0.0002057910751318559, -0.266142338514328, 0.0001666754251345992, 0.0034949262626469135, 0.0036571440286934376, -0.03432607650756836, 0.003480389015749097, 0.0008433902985416353, 0.005675589200109243, -0.020744260400533676, 0.003081860486418009, 0.0008553627412766218, -0.0031321709975600243, -0.026907777413725853, 0.006811861880123615, 0.0008447205764241517, 0.005575444549322128, -0.0027224940713495016, 0.004355798941105604, 0.0023113954812288284, 0.0008540325216017663, 0.8569111824035645, -1.1064372062683105, -0.24131734669208527, 1.0777374505996704, -1.7531754970550537, -0.8858290910720825, -0.3363526165485382, 0.0056219459511339664, -0.0771808847784996, -0.260616660118103, -0.20662501454353333, 0.00325488718226552, 0.00530295679345727, -0.11404533684253693, 0.003571866312995553, 0.0008464942802675068, 0.003530561923980713, -0.11301081627607346, 0.00640517845749855, 0.0008495982619933784, -0.0009125678916461766, -0.15536902844905853, 0.0038789177779108286, 0.0012801619013771415, 0.006232638843357563, -0.002023597015067935, -0.17589865624904633, 0.00322333094663918, 0.00099415413569659, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.000862864195369184, -9.58738019107841e-05, -0.011121360585093498, -0.8070656657218933], "max": [1.253842830657959, -0.6834239959716797, -2.396844820395927e-07, 1.5700000524520874, 0.11045116931200027, -0.06767875701189041, 0.6377116441726685, 1.3508483171463013, 0.28935280442237854, -0.0035535951610654593, 0.2415427565574646, 0.5306406021118164, 0.4953899383544922, 0.10015395283699036, 0.03781058266758919, 0.04092837870121002, 0.2974054217338562, 0.19812703132629395, 0.05723779276013374, 0.03614339977502823, 0.04879201576113701, 0.21466489136219025, 0.006881001405417919, 0.008474254980683327, 0.19466105103492737, 0.16512933373451233, 0.24113206565380096, 0.02272145263850689, 0.02690778858959675, 1.3739633560180664, -0.2963608205318451, -0.0003606053360272199, 1.8151252269744873, 0.19436782598495483, -0.04034321755170822, 0.6981649994850159, 1.3901845216751099, 0.259446918964386, 0.13031268119812012, 0.25534895062446594, 0.6454809904098511, 1.005653977394104, 0.10865088552236557, 0.7870529890060425, 0.5257673859596252, 1.4230443239212036, 0.20022884011268616, 1.4239145517349243, 0.7909684181213379, 1.4554808139801025, 0.2131289839744568, 1.5259159803390503, 1.011417031288147, 0.09397659450769424, 1.3900519609451294, 0.2086951732635498, 1.4211056232452393, 1.3081680536270142, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.0, 0.0, 0.1281832754611969, -0.6000741124153137], "mean": [1.1494114398956299, -0.7300457954406738, -0.22238117456436157, 1.3418866395950317, 0.07193025201559067, -0.23257942497730255, 0.4388561546802521, 1.2781846523284912, 0.278941810131073, -0.2245047688484192, 0.2240903079509735, 0.5111852884292603, 0.4098898470401764, 0.09255300462245941, 0.03210765868425369, 0.0326165035367012, 0.266544371843338, 0.17209060490131378, 0.05391649156808853, 0.03348112851381302, 0.030185313895344734, 0.17999055981636047, 0.006835915148258209, 0.003251865040510893, 0.13495385646820068, 0.12598907947540283, 0.22651906311511993, 0.020807581022381783, 0.021592069417238235, 1.2019234895706177, -0.6174862384796143, -0.20896515250205994, 1.3183231353759766, -1.412196159362793, -0.4232321083545685, -0.033316947519779205, 1.2129775285720825, 0.1087731122970581, -0.07960913330316544, -0.06438600271940231, 0.22990505397319794, 0.755638062953949, 0.042389001697301865, 0.307168185710907, 0.16355657577514648, 1.1842584609985352, -0.06963274627923965, 1.231660008430481, 0.4450920820236206, 1.3302178382873535, -0.11770541220903397, 1.3272656202316284, 0.6421223878860474, 0.022522171959280968, 1.2582836151123047, -0.1357332468032837, 0.8463225960731506, 1.2508814334869385, 0.562696099281311, -1.1068545579910278, 0.5440796613693237, -0.000583538378123194, -3.881530474814099e-08, 0.07671655714511871, -0.7607163190841675], "std": [0.06512224674224854, 0.0315428152680397, 0.018622297793626785, 0.05890786275267601, 0.038700807839632034, 0.12925468385219574, 0.06438076496124268, 0.1139882281422615, 0.027004817500710487, 0.025047341361641884, 0.023093855008482933, 0.04941953718662262, 0.06643902510404587, 0.015256961807608604, 0.005075111985206604, 0.004915869329124689, 0.042759932577610016, 0.027862628921866417, 0.008152905851602554, 0.004912637639790773, 0.011963487602770329, 0.03242187201976776, 7.664500117243733e-06, 0.0014132168143987656, 0.019027963280677795, 0.030229534953832626, 0.0316280834376812, 0.003951923921704292, 0.0047430372796952724, 0.10504859685897827, 0.1627681702375412, 0.025806980207562447, 0.18423514068126678, 0.33931922912597656, 0.14195527136325836, 0.20255497097969055, 0.14228753745555878, 0.05677349492907524, 0.08672145009040833, 0.06536801904439926, 0.1808689385652542, 0.16548076272010803, 0.03163180500268936, 0.18075059354305267, 0.11477382481098175, 0.20555493235588074, 0.033386100083589554, 0.25929751992225647, 0.1619473397731781, 0.24677003920078278, 0.0461207814514637, 0.2758544981479645, 0.2565554082393646, 0.013467672280967236, 0.2392568141222, 0.04869278147816658, 0.2539750337600708, 0.256089448928833, 3.3983818866545334e-05, 4.0059505408862606e-05, 5.106853132019751e-05, 0.00015974817506503314, 1.928717210830655e-06, 0.03859308362007141, 0.03096941113471985], "count": [2470]}, "observation.state.joint_torque": {"min": [-30.41699981689453, -4.1579999923706055, -16.558000564575195, -6.714000225067139, -0.06560000032186508, -0.7688000202178955, 1.0520000457763672, -0.7679370641708374, -0.3171083629131317, -0.6250728368759155, -0.3554092049598694, -0.10127562284469604, -0.4806915521621704, -0.5353810787200928, -0.08633331209421158, -0.039956167340278625, -0.3262178301811218, -0.4116101562976837, -0.13448072969913483, -0.033534638583660126, -0.2341092824935913, -0.5161917805671692, -0.0033205123618245125, -0.03710215538740158, -0.10687166452407837, -0.22067676484584808, -0.5411378145217896, -0.09131408482789993, -0.032821137458086014, 10.23900032043457, -5.379000186920166, 6.203000068664551, -8.220999717712402, -2.523200035095215, -1.6687999963760376, -3.346400022506714, -0.9666073322296143, -0.7628430128097534, -0.36535072326660156, -0.7953213453292847, -0.32208967208862305, -0.42983996868133545, -1.1129785776138306, -0.2722820043563843, -0.06136125698685646, -0.9997617602348328, -0.9613831639289856, -0.26232045888900757, -0.06064775213599205, -0.4634212255477905, -0.3981776535511017, -0.3187691569328308, -0.03638865053653717, -0.13677813112735748, -0.6975305080413818, -0.4826105237007141, -0.15274357795715332, -0.04709119349718094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.026500701904297, 6.510000228881836, -11.407999992370605, 0.7009999752044678, 1.5255999565124512, 1.2375999689102173, 2.361599922180176, 1.1805599927902222, 0.2687143385410309, 0.3603799641132355, 0.3168858587741852, 0.16602559387683868, 0.5795163512229919, 0.3031907081604004, 0.0879935771226883, 0.01783757284283638, 0.32046106457710266, 0.3789883553981781, 0.11123716086149216, 0.014270060695707798, 0.3012717664241791, 0.4020155370235443, 0.0016602561809122562, 0.013556556776165962, 0.069928377866745, 0.19093339145183563, 0.5737596154212952, 0.07471152395009995, 0.014983562752604485, 39.541500091552734, 10.581000328063965, 23.59600067138672, 1.559999942779541, 0.6015999913215637, 4.155200004577637, 0.5152000188827515, 2.428616762161255, 4.587245941162109, 2.425729990005493, 1.2663007974624634, 0.5777691602706909, 2.144402503967285, 0.8040310740470886, 1.0575830936431885, 0.21476440131664276, 0.884626030921936, 0.2532985508441925, 0.18760894238948822, 0.027826614677906036, 0.9719372987747192, 0.2628931999206543, 0.2025512456893921, 0.025686107575893402, 0.1323801428079605, 0.7387874722480774, 0.37323158979415894, 0.254019170999527, 0.04423718526959419, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.650522232055664, 2.246613025665283, -13.783515930175781, -2.5082218647003174, 0.31350618600845337, -0.22994908690452576, 1.6864216327667236, 0.002008771989494562, -0.0022820380982011557, 0.008900072425603867, 0.010481848381459713, 0.0002836560015566647, 0.023878714069724083, 0.010498146526515484, 0.0008832302410155535, 0.0004226129676681012, 0.005890399217605591, 0.0017083744751289487, -0.0005182411405257881, 3.639623537310399e-05, 0.030052954331040382, 0.026758205145597458, 1.3443369653032278e-06, -0.0009974599815905094, -0.002822206122800708, 0.013829105533659458, 0.008711683563888073, 0.0010936189210042357, 0.00037812648224644363, 27.07378578186035, 1.0465598106384277, 12.789206504821777, -2.5588929653167725, -0.5739730000495911, 1.6246682405471802, -0.8982757925987244, 0.38740992546081543, 1.0871034860610962, 0.3726334273815155, 0.0786062479019165, 0.10448591411113739, 0.579759418964386, -0.1812742054462433, 0.31983840465545654, 0.08217117190361023, -0.049305982887744904, -0.08551764488220215, -0.0024554268456995487, -0.0018683945527300239, -0.0018019952112808824, -0.004069759976118803, -0.0017792321741580963, -0.001847884152084589, -0.0014741361374035478, -0.011155818589031696, -0.000694153131917119, -0.01901295967400074, 0.003925403580069542, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.8042789697647095, 0.830496609210968, 0.603570282459259, 0.6973955631256104, 0.21476991474628448, 0.32072266936302185, 0.17030690610408783, 0.0471966378390789, 0.02496122196316719, 0.07207676023244858, 0.05878833681344986, 0.009493167512118816, 0.06085975468158722, 0.046534087508916855, 0.00809304229915142, 0.004058469086885452, 0.05133648216724396, 0.04426955059170723, 0.014019208960235119, 0.003986059222370386, 0.05154571682214737, 0.07849740236997604, 0.00016364772454835474, 0.00573215214535594, 0.012884608469903469, 0.030166497454047203, 0.057726845145225525, 0.007143879774957895, 0.004452730994671583, 4.1397504806518555, 2.135624408721924, 1.557212471961975, 1.6263797283172607, 0.34357306361198425, 0.6862990260124207, 0.48219209909439087, 0.7069723606109619, 1.3561869859695435, 0.5528836250305176, 0.31332361698150635, 0.14669059216976166, 0.7437723875045776, 0.3171360492706299, 0.39429229497909546, 0.09498824179172516, 0.14973609149456024, 0.13696953654289246, 0.022678764536976814, 0.008202877826988697, 0.06717526167631149, 0.0554562509059906, 0.022898679599165916, 0.008665795437991619, 0.02225061133503914, 0.1223522424697876, 0.09392644464969635, 0.03722507134079933, 0.005241183564066887, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2470]}, "observation.state.tcp": {"min": [0.34975337982177734, 0.18740254640579224, 0.952081561088562, -1.3423815965652466, 1.2178404331207275, -1.6102484464645386, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.22066523134708405, -0.3016667664051056, 0.9275132417678833, -0.6933342218399048, 1.1630531549453735, 0.4396471083164215, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.3963034152984619, 0.22712640464305878, 1.0660887956619263, -0.9686627984046936, 1.6963505744934082, -1.17427659034729, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44926369190216064, -0.04081502556800842, 1.137447476387024, 1.2570812702178955, 1.8764249086380005, 1.5873063802719116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.37993916869163513, 0.20759309828281403, 1.000673532485962, -1.2266813516616821, 1.5786817073822021, -1.4550310373306274, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38709360361099243, -0.144793301820755, 1.0388866662979126, -0.22171951830387115, 1.6408661603927612, 0.6772861480712891, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.013146376237273216, 0.009005643427371979, 0.03053474985063076, 0.05923999100923538, 0.08601032197475433, 0.0852302685379982, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05655170604586601, 0.05744824558496475, 0.04541225731372833, 0.3123472034931183, 0.1411300152540207, 0.18020141124725342, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2470]}, "action": {"min": [1.0444860458374023, -0.8433243632316589, -0.22472819685935974, 1.2738796472549438, -0.1234969049692154, -0.769870936870575, 0.31876930594444275, 0.0, 0.0, -0.2686585485935211, 0.0, 0.0, 0.0, -0.03843390941619873, 0.0, 0.0, 0.0, -0.024976342916488647, 0.0, 0.0, 0.0, -0.03129221498966217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.856923520565033, -1.1065430641174316, -0.24131423234939575, 1.077728271484375, -1.753186821937561, -0.886282205581665, -0.33635008335113525, 0.0, -0.08091814815998077, -0.25792431831359863, -0.207619771361351, 0.0, 0.0, -0.11463169008493423, 0.0, 0.0, 0.0, -0.1221274584531784, 0.0, 0.0, 0.0, -0.15937557816505432, 0.0, 0.0, -9.52752809979529e-09, 0.0, -0.17377270758152008, 0.0, 0.0, 0.5625876784324646, -1.1069587469100952, 0.5439883470535278, -0.0009428958874195814, -1.3736528671870474e-05, -0.01115353312343359, -0.8070834875106812], "max": [1.254029631614685, -0.6834293603897095, -0.0006788584287278354, 1.569851040840149, 0.11044661700725555, -0.06765968352556229, 0.6376988291740417, 1.3592650890350342, 0.2894821763038635, 0.0, 0.24601222574710846, 0.5337925553321838, 0.5052404403686523, 0.10183757543563843, 0.04378996789455414, 0.04243483766913414, 0.3052220046520233, 0.20021656155586243, 0.06318243592977524, 0.038487594574689865, 0.048120010644197464, 0.22385984659194946, 0.009582046419382095, 0.009445169940590858, 0.20807303488254547, 0.1700282096862793, 0.24237222969532013, 0.031802788376808167, 0.028945432975888252, 1.3739579916000366, -0.2963426411151886, -0.0001417235325789079, 1.8153026103973389, 0.1949964314699173, -0.03567212447524071, 0.7620413303375244, 1.4010090827941895, 0.2799842953681946, 0.1338442713022232, 0.25929611921310425, 0.6515042185783386, 1.0314875841140747, 0.11538590490818024, 0.80186927318573, 0.5291987657546997, 1.439418911933899, 0.2017352283000946, 1.428628921508789, 0.7931348085403442, 1.4753592014312744, 0.21615399420261383, 1.5286564826965332, 1.0125731229782104, 0.1071915253996849, 1.3956660032272339, 0.21168869733810425, 1.425747036933899, 1.440962791442871, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 3.6861328943154495e-21, 1.2332478945609182e-05, 0.12961940467357635, -0.6000000238418579], "mean": [1.1495002508163452, -0.7300590872764587, -0.22240108251571655, 1.3419268131256104, 0.07191477715969086, -0.23271343111991882, 0.4388870596885681, 1.282204270362854, 0.2823159396648407, -0.22248782217502594, 0.2251027673482895, 0.5153931379318237, 0.4153544306755066, 0.09408878535032272, 0.037611011415719986, 0.03696918115019798, 0.2693125307559967, 0.1751480996608734, 0.05481399968266487, 0.035869065672159195, 0.03130786120891571, 0.1870468258857727, 0.006581117399036884, 0.006516848690807819, 0.1357104480266571, 0.13020288944244385, 0.22992581129074097, 0.026066746562719345, 0.024330658838152885, 1.2025396823883057, -0.6183138489723206, -0.20898400247097015, 1.3190252780914307, -1.4122437238693237, -0.4238727390766144, -0.03294629603624344, 1.2142810821533203, 0.11296135932207108, -0.07990074157714844, -0.06484746932983398, 0.23057147860527039, 0.7618943452835083, 0.03703269362449646, 0.3101625144481659, 0.17424613237380981, 1.1825343370437622, -0.0690411776304245, 1.2302381992340088, 0.4447872042655945, 1.3290739059448242, -0.11733346432447433, 1.3261520862579346, 0.6418505311012268, 0.026010913774371147, 1.2567403316497803, -0.13558243215084076, 0.8441463708877563, 1.320206880569458, 0.5626986622810364, -1.1068638563156128, 0.5441346168518066, -0.0006285302224569023, 2.226154833806504e-07, 0.0767611414194107, -0.7607556581497192], "std": [0.0651562511920929, 0.03154898062348366, 0.018588511273264885, 0.05895642191171646, 0.03874262422323227, 0.12946169078350067, 0.06438347697257996, 0.12865430116653442, 0.030540362000465393, 0.02867884375154972, 0.025961237028241158, 0.05569325014948845, 0.06844542920589447, 0.014476875774562359, 0.005481671541929245, 0.005168137140572071, 0.044098149985075, 0.027191855013370514, 0.008071067743003368, 0.0050469450652599335, 0.012220568023622036, 0.0320047102868557, 0.002284965245053172, 0.00225530075840652, 0.023042524233460426, 0.03144673630595207, 0.031154904514551163, 0.005567565560340881, 0.005071261432021856, 0.10471726953983307, 0.16316501796245575, 0.025794660672545433, 0.18454420566558838, 0.3408989906311035, 0.14209003746509552, 0.2042352706193924, 0.15097631514072418, 0.06198589503765106, 0.08660778403282166, 0.06560791283845901, 0.18223422765731812, 0.17064599692821503, 0.028004463762044907, 0.18260091543197632, 0.1210210844874382, 0.20520058274269104, 0.03405250236392021, 0.2591535151004791, 0.16209112107753754, 0.24658654630184174, 0.04596192389726639, 0.27595099806785583, 0.25668689608573914, 0.014051279053092003, 0.23908933997154236, 0.04831159859895706, 0.2543238699436188, 0.27293509244918823, 1.615406472410541e-05, 6.047268470865674e-06, 3.206945984857157e-05, 0.00015183715731836855, 6.072477845009416e-06, 0.03863812983036041, 0.03107670322060585], "count": [2470]}, "observation.state.tcp_pose": {"min": [0.34975337982177734, 0.18740254640579224, 0.952081561088562, -1.3423815965652466, 1.2178404331207275, -1.6102484464645386, 0.22066523134708405, -0.3016667664051056, 0.9275132417678833, -0.6933342218399048, 1.1630531549453735, 0.4396471083164215], "max": [0.3963034152984619, 0.22712640464305878, 1.0660887956619263, -0.9686627984046936, 1.6963505744934082, -1.17427659034729, 0.44926369190216064, -0.04081502556800842, 1.137447476387024, 1.2570812702178955, 1.8764249086380005, 1.5873063802719116], "mean": [0.37993916869163513, 0.20759309828281403, 1.000673532485962, -1.2266813516616821, 1.5786817073822021, -1.4550310373306274, 0.38709360361099243, -0.144793301820755, 1.0388866662979126, -0.22171951830387115, 1.6408661603927612, 0.6772861480712891], "std": [0.013146376237273216, 0.009005643427371979, 0.03053474985063076, 0.05923999100923538, 0.08601032197475433, 0.0852302685379982, 0.05655170604586601, 0.05744824558496475, 0.04541225731372833, 0.3123472034931183, 0.1411300152540207, 0.18020141124725342], "count": [2470]}, "action.tcp_pose": {"min": [0.3498895466327667, 0.18740390241146088, 0.9520798921585083, -1.3423635959625244, 1.2186172008514404, -1.610392689704895, 0.21908479928970337, -0.3115614950656891, 0.9274626970291138, -0.6932693123817444, 1.1504210233688354, 0.43965479731559753], "max": [0.39630842208862305, 0.22714334726333618, 1.0664029121398926, -0.96852046251297, 1.6962454319000244, -1.1750671863555908, 0.4492092728614807, -0.04078124463558197, 1.1372840404510498, 1.2869389057159424, 1.8763427734375, 1.5765243768692017], "mean": [0.379957377910614, 0.20759731531143188, 1.0006821155548096, -1.2266472578048706, 1.5785753726959229, -1.454992413520813, 0.3871114253997803, -0.14503151178359985, 1.039278507232666, -0.22173459827899933, 1.6387099027633667, 0.6776253581047058], "std": [0.013134442269802094, 0.009008281864225864, 0.030591251328587532, 0.05937066674232483, 0.08622394502162933, 0.0852343738079071, 0.05648713931441307, 0.05769720301032066, 0.04549385607242584, 0.31281304359436035, 0.14343908429145813, 0.18136188387870789], "count": [2470]}, "subtask_index": {"min": [54], "max": [608], "mean": [568.6716599190283], "std": [88.96357057328298], "count": [2470]}, "observation.tactile": {"min": [-0.01653263159096241, -3.988134631072171e-05, -8.65726760821417e-05, -0.001973323989659548, -0.00010570112499408424, -0.0003047487116418779, -0.0032269104849547148, -4.5801953092450276e-05, -0.00010555343760643154, -0.00034967061947099864, -3.0490438803099096e-05, -5.391865852288902e-05, -0.005609435029327869, -4.639746475731954e-05, -0.0001021797361318022, -0.0014125198358669877, -5.842958125867881e-05, -0.0001275032409466803, -0.010343355126678944, -3.327700687805191e-05, -7.236891542561352e-05, -0.0012278193607926369, -5.673362466040999e-05, -0.00024628901155665517, -0.017435669898986816, -4.703414379036985e-05, -0.00010520379873923957, -0.0015439466806128621, -4.8399324441561475e-05, -0.00035829824628308415, -1.5049502849578857, -4.0077233279589564e-05, -9.338461677543819e-05, -0.1864473670721054, -0.012034853920340538, -0.031453702598810196, -6.596450328826904, -1.2856954336166382, -0.00011002938845194876, -0.22162191569805145, -0.02183816209435463, -0.08725140243768692, -1.8775389194488525, -4.271345096640289e-05, -9.39871824812144e-05, -0.00413144938647747, -0.00012772031186614186, -0.022737545892596245, -0.01913025975227356, -5.38684798812028e-05, -0.0001215835363836959, -0.0018754656193777919, -6.361614214256406e-05, -0.0004199236282147467, -0.049319665879011154, -3.938532609026879e-05, -8.660310413688421e-05, -0.0010084107052534819, -7.355224079219624e-05, -0.0006126475054770708], "max": [0.023383036255836487, 0.03115258552134037, 0.08811122924089432, 1.6411805745519814e-06, 0.00037456658901646733, 0.0003455528349149972, 0.0003353353531565517, 0.006605326663702726, 0.01933080330491066, 1.8253106190968538e-06, 6.228723941603675e-05, 6.619558917009272e-06, 0.04157060384750366, 0.024057362228631973, 0.07809317111968994, 1.917868530654232e-06, 0.00041693064849823713, 0.0005596575210802257, 0.014332088641822338, 0.018959475681185722, 0.054594140499830246, 1.3614935596706346e-06, 0.0002548930933699012, 0.00014607181947212666, 0.0003576992894522846, 0.028289392590522766, 0.08063269406557083, 1.95786287804367e-06, 0.00012011600483674556, 1.0453550203237683e-05, 4.925628185272217, 6.931676864624023, 12.474260330200195, 1.735999944685318e-06, 0.0388023778796196, 0.07549956440925598, 1.0481725931167603, 6.034666538238525, 11.998832702636719, 2.0777765712409746e-06, 0.011926107108592987, 0.019845502451062202, 0.02772524021565914, 0.23242978751659393, 0.3308120369911194, 1.743391635500302e-06, 0.0017313181888312101, 0.00039737526094540954, 0.005192592274397612, 0.028148425742983818, 0.08277125656604767, 2.199180926254485e-06, 0.00016640537069179118, 8.322671055793762e-05, 0.0055536795407533646, 0.015004415065050125, 0.045210693031549454, 1.5669593267375603e-06, 0.00013561088417191058, 9.483564645051956e-05], "mean": [-0.0012313579209148884, 0.0031128558330237865, 0.009389564394950867, -0.00015569350216537714, 1.4466570974036586e-05, -2.3330892872763798e-05, 0.00019934105512220412, 0.000153099448652938, 0.0004778742732014507, -8.176784831448458e-06, -5.499775852513267e-07, 3.816312528215349e-06, 0.00061939493753016, 0.0023699940647929907, 0.007121758069843054, -0.00011991274368483573, 2.4939645300037228e-05, 3.5703167213796405e-06, 0.00016586507263127714, 0.0007094624452292919, 0.002080047968775034, -3.1315998057834804e-05, 5.4690722208761144e-06, 1.4950991271689418e-06, -0.0003439091960899532, 0.0011209946824237704, 0.0033059236593544483, -5.871637404197827e-05, 2.922143266914645e-06, -6.717149972246261e-06, 0.7752293348312378, 1.8448554277420044, 3.4555771350860596, -0.05806118622422218, 0.0035267763305455446, 0.012164290063083172, -1.7063288688659668, 0.9760500192642212, 3.669447422027588, -0.05759279802441597, -0.004169886466115713, -0.02549433894455433, -0.009044704027473927, 0.004666546359658241, 0.012704771012067795, -0.00020733263227157295, 5.326351310941391e-05, -0.00011558482947293669, -0.0014891221653670073, 0.005953030660748482, 0.017708271741867065, -0.00036978747812099755, 2.2377453205990605e-05, -3.997839303337969e-05, -0.00021910677605774254, 0.0016539380885660648, 0.004806294105947018, -0.000100210469099693, 9.192469406116288e-06, -7.553006525995443e-06], "std": [0.0025914181023836136, 0.004235453903675079, 0.01266289222985506, 0.00023015038459561765, 3.786946399486624e-05, 4.399877798277885e-05, 0.00029552748310379684, 0.0005234010168351233, 0.0015369822503998876, 2.6628416890162043e-05, 3.43488454745966e-06, 6.0231636780372355e-06, 0.0025053173303604126, 0.0033550970256328583, 0.01024367194622755, 0.00017687537183519453, 5.298656105878763e-05, 3.1467920052818954e-05, 0.0009065758204087615, 0.0018143561901524663, 0.005291046109050512, 8.988824265543371e-05, 2.3644663087907247e-05, 1.4288090824265964e-05, 0.0017005122499540448, 0.0028715196531265974, 0.008356914855539799, 0.00015960601740516722, 1.5042143786558881e-05, 3.559826291166246e-05, 0.9845377802848816, 2.0165653228759766, 3.6903164386749268, 0.06324528157711029, 0.008893335238099098, 0.017491139471530914, 1.9023025035858154, 1.3535902500152588, 3.994849920272827, 0.06335432082414627, 0.005538189318031073, 0.028730317950248718, 0.11822463572025299, 0.01390655804425478, 0.025297148153185844, 0.0003277089272160083, 0.00011263472697464749, 0.0014302029740065336, 0.002425414277240634, 0.005687457509338856, 0.016844872385263443, 0.0003773081407416612, 3.658136847661808e-05, 5.241566395852715e-05, 0.0014067271258682013, 0.0026695874985307455, 0.007690113037824631, 0.0001649705955060199, 2.218809640908148e-05, 2.487370147719048e-05], "count": [2470]}, "timestamp": {"min": [0.0], "max": [82.3], "mean": [41.15], "std": [23.76758413376411], "count": [2470]}, "frame_index": {"min": [0], "max": [2469], "mean": [1234.5], "std": [713.0275240129233], "count": [2470]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2470]}, "index": {"min": [25856], "max": [28325], "mean": [27090.5], "std": [713.0275240129233], "count": [2470]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2470]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5686876177787781]], [[0.5687575340270996]], [[0.5696366429328918]]], "std": [[[0.30588895082473755]], [[0.30574002861976624]], [[0.3065762519836426]]], "count": [2470]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30076295137405396]], [[0.30480241775512695]], [[0.3037034273147583]]], "std": [[[0.18076092004776]], [[0.18176443874835968]], [[0.1827041506767273]]], "count": [2470]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3096237778663635]], [[0.3135598599910736]], [[0.311601847410202]]], "std": [[[0.1853368580341339]], [[0.18498298525810242]], [[0.18545743823051453]]], "count": [2470]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5732312798500061]], [[0.5733761191368103]], [[0.5739285349845886]]], "std": [[[0.3098568618297577]], [[0.30954039096832275]], [[0.31055399775505066]]], "count": [2470]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5647059082984924]], [[0.5647059082984924]], [[0.5647059082984924]]], "mean": [[[0.0028440775349736214]], [[0.0028440775349736214]], [[0.0028440775349736214]]], "std": [[[0.03192652016878128]], [[0.03192652016878128]], [[0.03192652016878128]]], "count": [2470]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4923263192176819]], [[0.4923263192176819]], [[0.4923263192176819]]], "std": [[[0.22252337634563446]], [[0.22252337634563446]], [[0.22252337634563446]]], "count": [2470]}}}
+{"episode_index": 11, "stats": {"observation.state": {"min": [1.0001187324523926, -0.8370916247367859, -0.2246396243572235, 1.1523064374923706, -0.04037497565150261, -0.7691701650619507, 0.35536715388298035, 0.0068971640430390835, -0.0009539746679365635, -0.25891241431236267, 0.004027862101793289, 0.003543501254171133, 0.0019198289373889565, -0.11805426329374313, 0.0034449328668415546, 0.00083496532170102, 6.672905146842822e-05, -0.1345393806695938, 0.0030467587057501078, 0.0008411731687374413, -0.001272687572054565, -0.026921026408672333, 0.0068044159561395645, 0.0008021520334295928, 0.005524068139493465, -0.001718181069009006, -0.02609284408390522, 0.005704916547983885, 0.00083496532170102, 0.8924008011817932, -1.2093214988708496, -0.2414526492357254, 1.093985676765442, -1.785386562347412, -0.772472083568573, -0.43481189012527466, 0.0055968319065868855, -0.040917716920375824, -0.2616623640060425, -0.16441333293914795, 0.003260914934799075, -4.61187883047387e-05, -0.11302237957715988, 0.0037760944105684757, 0.000793283514212817, 0.0019867997616529465, -0.12169526517391205, 0.0034126676619052887, 0.0013524397509172559, -0.001804040395654738, -0.1682717651128769, 0.004729514010250568, 0.0008620141306892037, 0.006617964245378971, -0.0019141859374940395, -0.18139787018299103, 0.006827108096331358, 0.000863787776324898, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.000862864195369184, -9.58738019107841e-05, -0.012942963279783726, -0.7939309477806091], "max": [1.2465448379516602, -0.6312677264213562, -0.0004939897335134447, 1.5696792602539062, 0.09351961314678192, -0.03973513841629028, 0.6065730452537537, 1.4283350706100464, 0.2956553101539612, 0.00038183803553692997, 0.26524531841278076, 0.5738468766212463, 0.6097492575645447, 0.12851861119270325, 0.045371636748313904, 0.04549962282180786, 0.5632119178771973, 0.21224412322044373, 0.06712832301855087, 0.050045594573020935, 0.10421142727136612, 0.21098320186138153, 0.011188586242496967, 0.013214445672929287, 0.24076524376869202, 0.23350770771503448, 0.22587107121944427, 0.03740283474326134, 0.03158102184534073, 1.4228876829147339, -0.26532915234565735, -1.5459649148397148e-05, 1.8859949111938477, 0.13071973621845245, -0.103046715259552, 0.698178768157959, 1.3336960077285767, 0.2816268503665924, 0.1653834730386734, 0.20022563636302948, 0.6454047560691833, 1.038100242614746, 0.11577456444501877, 0.7965995669364929, 0.3209051191806793, 1.463788628578186, 0.24170808494091034, 1.2845500707626343, 0.49083366990089417, 1.4633800983428955, 0.2525271475315094, 1.4601399898529053, 0.9996387958526611, 0.17205208539962769, 1.3667250871658325, 0.26166483759880066, 1.4660465717315674, 1.3081915378570557, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.0005752427969127893, 9.58738019107841e-05, 0.15732890367507935, -0.5626833438873291], "mean": [1.1768616437911987, -0.72990882396698, -0.22238510847091675, 1.3217395544052124, 0.05212945491075516, -0.17436054348945618, 0.4109704792499542, 1.3643907308578491, 0.28484535217285156, -0.1840771585702896, 0.23736059665679932, 0.5551926493644714, 0.5507479906082153, 0.11747628450393677, 0.0377059206366539, 0.03963230177760124, 0.5141510367393494, 0.19186122715473175, 0.06156931072473526, 0.04560074582695961, 0.07606957107782364, 0.1909128874540329, 0.007298856973648071, 0.008774474263191223, 0.11028315871953964, 0.18138885498046875, 0.19964143633842468, 0.029195426031947136, 0.026130402460694313, 1.213348388671875, -0.6364588737487793, -0.2178976684808731, 1.3676611185073853, -1.440181016921997, -0.38259246945381165, -0.08199118822813034, 1.2098720073699951, 0.09077659994363785, -0.04997049644589424, -0.048966389149427414, 0.17878445982933044, 0.7941493988037109, 0.04669453948736191, 0.2580215334892273, 0.1269809752702713, 1.2521041631698608, -0.07565109431743622, 1.1189608573913574, 0.18233981728553772, 1.322409749031067, -0.12357886135578156, 1.2505189180374146, 0.5642008185386658, 0.01977493055164814, 1.2441225051879883, -0.14005643129348755, 0.9167260527610779, 1.232488751411438, 0.5626984238624573, -1.1068599224090576, 0.544066309928894, -0.0005110679776407778, -2.270097922973946e-07, 0.10062748938798904, -0.7304847240447998], "std": [0.049618788063526154, 0.03383520618081093, 0.01808989606797695, 0.053295981138944626, 0.015551005490124226, 0.10111849755048752, 0.047624848783016205, 0.13229487836360931, 0.030719317495822906, 0.03383263945579529, 0.027711110189557076, 0.062276002019643784, 0.08857791125774384, 0.02710607834160328, 0.005605715326964855, 0.005816371645778418, 0.11150625348091125, 0.04165493696928024, 0.012424220331013203, 0.009292892180383205, 0.02025706321001053, 0.03923957422375679, 0.0012770676985383034, 0.0025619121734052896, 0.020326418802142143, 0.044085003435611725, 0.0375160276889801, 0.005684278905391693, 0.005693970248103142, 0.12137105315923691, 0.18575724959373474, 0.024768410250544548, 0.19385786354541779, 0.35595449805259705, 0.13652421534061432, 0.21562710404396057, 0.14337755739688873, 0.05547389015555382, 0.10554096102714539, 0.06317908316850662, 0.14348147809505463, 0.1756908893585205, 0.0317610539495945, 0.15143029391765594, 0.07232817262411118, 0.2517705261707306, 0.044028643518686295, 0.2635979652404785, 0.07049845159053802, 0.2835775315761566, 0.05910845100879669, 0.2958863377571106, 0.20976221561431885, 0.016924837604165077, 0.2708510458469391, 0.06062917411327362, 0.3280279040336609, 0.28665557503700256, 2.7498319468577392e-05, 2.8893176931887865e-05, 4.328946306486614e-05, 0.00018947214994113892, 6.593840680579888e-06, 0.03832024708390236, 0.04261394217610359], "count": [2534]}, "observation.state.joint_torque": {"min": [-31.21649932861328, -2.63700008392334, -16.990999221801758, -5.710000038146973, -0.13519999384880066, -0.7968000173568726, 1.291200041770935, -0.559078574180603, -0.2916378080844879, -0.5020465850830078, -0.3628653585910797, -0.14610254764556885, -0.5142728090286255, -0.571840763092041, -0.09629485011100769, -0.03781566023826599, -0.40873175859451294, -0.5680028200149536, -0.14610254764556885, -0.0321076326072216, -0.31854212284088135, -0.5344215631484985, -0.023243583738803864, -0.03567514568567276, -0.12006568908691406, -0.26673102378845215, -0.43655622005462646, -0.07471152395009995, -0.03068062849342823, 10.33650016784668, -5.126999855041504, 3.937000036239624, -8.24899959564209, -1.8056000471115112, -2.6703999042510986, -3.518399953842163, -1.325742244720459, -0.7488341331481934, -0.44364020228385925, -0.9357452988624573, -0.17930765450000763, -0.9585047960281372, -0.9700183868408203, -0.1776474118232727, -0.0642152652144432, -0.8222607970237732, -0.7896390557289124, -0.3005063533782959, -0.05279921740293503, -0.857761025428772, -0.42983999848365784, -0.3005063533782959, -0.0834798514842987, -0.17064282298088074, -0.7138413786888123, -0.42983996868133545, -0.14610254764556885, -0.09346889704465866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.599000930786133, 9.78600025177002, -10.920999526977539, 0.35499998927116394, 1.2319999933242798, 1.0368000268936157, 2.4567999839782715, 0.29036426544189453, 0.2521584630012512, 0.43245598673820496, 0.44488289952278137, 0.09297433495521545, 0.35692068934440613, 0.24466337263584137, 0.07471152395009995, 0.016410568729043007, 0.5363405346870422, 0.2916771173477173, 0.12285894900560379, 0.012843053787946701, 0.28112301230430603, 0.33293408155441284, 0.08965382725000381, 0.016410568729043007, 0.06421096622943878, 0.2657715976238251, 0.2907176613807678, 0.07803203910589218, 0.015697065740823746, 36.74399948120117, 10.401000022888184, 19.072999954223633, 1.031999945640564, 0.31679999828338623, 2.9823999404907227, 0.7311999797821045, 2.5063023567199707, 4.0600056648254395, 2.316373348236084, 1.38559889793396, 0.6491602063179016, 2.144402503967285, 0.403934508562088, 1.0575830936431885, 0.21405088901519775, 1.135046124458313, 0.3770694434642792, 0.6375383138656616, 0.07349080592393875, 1.0477349758148193, 0.2916771173477173, 0.6807050108909607, 0.08419335633516312, 0.13369953632354736, 0.5670433640480042, 0.4192858636379242, 0.2922050952911377, 0.04851820319890976, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.18587875366211, 2.112600564956665, -13.95004940032959, -2.2164366245269775, 0.1735784262418747, -0.1775083690881729, 1.7056301832199097, 0.00031510720145888627, -0.002453075023368001, 0.0284701120108366, 0.010935072787106037, 0.002055344171822071, 0.0055307322181761265, 0.00685137789696455, 9.434729145141318e-05, 2.25255257646495e-06, 0.013856695033609867, -0.0034963295329362154, 0.001062068622559309, 0.00010023936192737892, 0.013559727929532528, 0.011027383618056774, 0.0005870516179129481, 7.602217920066323e-06, -0.0013371080858632922, 0.007537469267845154, -0.0021495164837688208, 0.0008425761479884386, 0.00044657522812485695, 26.2148380279541, 0.9026894569396973, 12.808969497680664, -2.6237378120422363, -0.6245120763778687, 1.5722578763961792, -0.8360973596572876, 0.4030084013938904, 0.9725248217582703, 0.3431127071380615, 0.0814221128821373, 0.09022251516580582, 0.5957008600234985, -0.18260502815246582, 0.3199622631072998, 0.07906010001897812, -0.04117179661989212, -0.06585278362035751, -0.0013110418803989887, 0.0005152775556780398, 0.0011321244528517127, 0.000574008037801832, 0.0005090871127322316, -0.0027008424513041973, 0.0009589210385456681, -0.008239501155912876, 0.00336266472004354, -0.0149573665112257, 0.0022317366674542427, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6839577555656433, 0.7906559109687805, 0.5152631402015686, 0.6071401834487915, 0.19400829076766968, 0.3473595976829529, 0.17936186492443085, 0.04015486687421799, 0.025595368817448616, 0.052968356758356094, 0.05936352536082268, 0.010589882731437683, 0.06655199080705643, 0.05964571610093117, 0.007919474504888058, 0.003985288552939892, 0.04937659204006195, 0.046528160572052, 0.014536802656948566, 0.004434008151292801, 0.04164886474609375, 0.058682870119810104, 0.005301026627421379, 0.0036812180187553167, 0.009115914814174175, 0.025963392108678818, 0.0478549525141716, 0.006360688712447882, 0.004483491647988558, 4.271671295166016, 2.3732643127441406, 1.500151515007019, 1.8164376020431519, 0.304335355758667, 0.6699081063270569, 0.5214583277702332, 0.757250189781189, 1.166743278503418, 0.5373520255088806, 0.3098669946193695, 0.13222114741802216, 0.7537473440170288, 0.30256757140159607, 0.3758412003517151, 0.08675218373537064, 0.12270813435316086, 0.12031572312116623, 0.026939792558550835, 0.007778390776365995, 0.06956052035093307, 0.0591016449034214, 0.030553847551345825, 0.009704752825200558, 0.018426058813929558, 0.11570766568183899, 0.09099726378917694, 0.035407762974500656, 0.006358856335282326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2534]}, "observation.state.tcp": {"min": [0.36181139945983887, 0.1916399747133255, 0.9316697120666504, -1.2522990703582764, 1.218295931816101, -1.582908272743225, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2232586294412613, -0.27534911036491394, 0.9258946180343628, -0.7366017699241638, 1.1618611812591553, 0.3854227066040039, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4012550711631775, 0.2351350337266922, 1.059152603149414, -1.0794910192489624, 1.746632695198059, -1.2294330596923828, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4519334137439728, -0.025123318657279015, 1.1469544172286987, 1.2088695764541626, 1.9977291822433472, 1.454363226890564, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3896874487400055, 0.20996570587158203, 1.0116294622421265, -1.1865423917770386, 1.6124649047851562, -1.4833310842514038, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37826624512672424, -0.14222019910812378, 1.042127013206482, -0.2496298849582672, 1.6736936569213867, 0.6458133459091187, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008350382559001446, 0.009718159213662148, 0.02449723146855831, 0.034035030752420425, 0.08392953872680664, 0.057122088968753815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0616423636674881, 0.06417988240718842, 0.0496218279004097, 0.3332187533378601, 0.1425570845603943, 0.18367896974086761, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2534]}, "action": {"min": [1.0001206398010254, -0.8371148109436035, -0.22463232278823853, 1.1522743701934814, -0.040362387895584106, -0.7638090252876282, 0.35537004470825195, 0.0, 0.0, -0.2613668441772461, 0.0, 0.0, 0.0, -0.12239564955234528, 0.0, 0.0, 0.0, -0.14217109978199005, 0.0, 0.0, 0.0, -0.1441255509853363, 0.0, 0.0, 0.0, 0.0, -0.09731246531009674, 0.0, 0.0, 0.8924011588096619, -1.2094199657440186, -0.24142172932624817, 1.0939679145812988, -1.7858972549438477, -0.7726563215255737, -0.4348854422569275, 0.0, -0.04612432047724724, -0.2598975896835327, -0.16461987793445587, 0.0, 0.0, -0.11178671568632126, 0.0, 0.0, 0.0, -0.12540172040462494, 0.0, 0.0, 0.0, -0.16909147799015045, 0.0, 0.0, -9.561812674974135e-09, 0.0, -0.18588802218437195, 0.0, 0.0, 0.5625874400138855, -1.1068999767303467, 0.5440613627433777, -0.0008633343386463821, -0.00012569568934850395, -0.013063331134617329, -0.7938702702522278], "max": [1.2465447187423706, -0.6312336921691895, -0.004348826128989458, 1.567685604095459, 0.09347039461135864, -0.03975462168455124, 0.6066409945487976, 1.4347847700119019, 0.29149964451789856, 0.0, 0.2733309864997864, 0.5838831067085266, 0.6161721348762512, 0.12854810059070587, 0.049619581550359726, 0.04777364805340767, 0.5671097636222839, 0.2138594537973404, 0.07142239809036255, 0.05128869414329529, 0.10246475785970688, 0.21728453040122986, 0.015472621656954288, 0.015335291624069214, 0.26179999113082886, 0.23849903047084808, 0.22717922925949097, 0.04410868510603905, 0.03688174858689308, 1.4228816032409668, -0.2653350532054901, 4.8545383883609976e-17, 1.886104941368103, 0.13064852356910706, -0.10275565832853317, 0.901901125907898, 1.3416730165481567, 0.28679028153419495, 0.1686064898967743, 0.20262791216373444, 0.648759126663208, 1.0778324604034424, 0.12044281512498856, 0.8005524277687073, 0.3238215148448944, 1.5136370658874512, 0.24287836253643036, 1.2897694110870361, 0.5051169991493225, 1.5223326683044434, 0.25380539894104004, 1.4644116163253784, 1.001606822013855, 0.19192573428153992, 1.371507167816162, 0.26369065046310425, 1.469321370124817, 1.4484275579452515, 0.5626999735832214, -1.106863021850586, 0.5442485809326172, 0.0004225118609610945, 4.891547723673284e-05, 0.15751822292804718, -0.562855064868927], "mean": [1.1769273281097412, -0.7299507260322571, -0.22240367531776428, 1.3218365907669067, 0.05212743952870369, -0.1744425892829895, 0.4110003709793091, 1.374505639076233, 0.2852717936038971, -0.18135309219360352, 0.24003857374191284, 0.5616406202316284, 0.553895890712738, 0.1179792732000351, 0.045785240828990936, 0.044311657547950745, 0.5198284387588501, 0.1933472454547882, 0.06503193825483322, 0.048099156469106674, 0.07901077717542648, 0.19382601976394653, 0.012691737152636051, 0.012587422505021095, 0.10157502442598343, 0.18472301959991455, 0.20283252000808716, 0.03369002044200897, 0.03022605925798416, 1.2142012119293213, -0.6372782588005066, -0.2178919017314911, 1.3684039115905762, -1.4408233165740967, -0.3830810487270355, -0.07957059890031815, 1.2107988595962524, 0.09417728334665298, -0.05030547454953194, -0.049231935292482376, 0.17934675514698029, 0.8026328086853027, 0.03974123299121857, 0.2631213665008545, 0.13111482560634613, 1.2505804300308228, -0.07485447824001312, 1.117455005645752, 0.18232443928718567, 1.3205665349960327, -0.12219079583883286, 1.2498434782028198, 0.5638971924781799, 0.0216507725417614, 1.2425875663757324, -0.13960011303424835, 0.9144460558891296, 1.3116211891174316, 0.5626997947692871, -1.106865644454956, 0.5441292524337769, -0.0005573143716901541, 1.66780921517784e-07, 0.10067476332187653, -0.7305384278297424], "std": [0.04961378872394562, 0.03385114297270775, 0.018034113571047783, 0.05339634791016579, 0.015582804568111897, 0.10134196281433105, 0.04762759059667587, 0.14428313076496124, 0.03066958859562874, 0.03419183939695358, 0.028728820383548737, 0.06260543316602707, 0.0875578299164772, 0.026642292737960815, 0.00656336173415184, 0.006236618384718895, 0.11229927837848663, 0.0412542000412941, 0.013222225941717625, 0.00957404263317585, 0.020411159843206406, 0.04251399263739586, 0.003068106947466731, 0.003038983792066574, 0.026088351383805275, 0.04468327760696411, 0.03902285546064377, 0.007752624806016684, 0.006865191739052534, 0.12148389220237732, 0.18623991310596466, 0.024835335090756416, 0.1942618489265442, 0.35584738850593567, 0.13660141825675964, 0.22565338015556335, 0.15323586761951447, 0.060366690158843994, 0.10537619888782501, 0.06412433832883835, 0.1447380632162094, 0.1791020631790161, 0.02644619345664978, 0.15356771647930145, 0.07481882721185684, 0.25157630443573, 0.045329030603170395, 0.26337504386901855, 0.07048541307449341, 0.283394992351532, 0.05973409488797188, 0.296478807926178, 0.2099132090806961, 0.019337886944413185, 0.2706761956214905, 0.06117234379053116, 0.32857489585876465, 0.31059888005256653, 1.7246644347324036e-05, 3.914864919352112e-06, 3.0902072467142716e-05, 0.000189487065654248, 1.0579808076727204e-05, 0.03835158050060272, 0.042640261352062225], "count": [2534]}, "observation.state.tcp_pose": {"min": [0.36181139945983887, 0.1916399747133255, 0.9316697120666504, -1.2522990703582764, 1.218295931816101, -1.582908272743225, 0.2232586294412613, -0.27534911036491394, 0.9258946180343628, -0.7366017699241638, 1.1618611812591553, 0.3854227066040039], "max": [0.4012550711631775, 0.2351350337266922, 1.059152603149414, -1.0794910192489624, 1.746632695198059, -1.2294330596923828, 0.4519334137439728, -0.025123318657279015, 1.1469544172286987, 1.2088695764541626, 1.9977291822433472, 1.454363226890564], "mean": [0.3896874487400055, 0.20996570587158203, 1.0116294622421265, -1.1865423917770386, 1.6124649047851562, -1.4833310842514038, 0.37826624512672424, -0.14222019910812378, 1.042127013206482, -0.2496298849582672, 1.6736936569213867, 0.6458133459091187], "std": [0.008350382559001446, 0.009718159213662148, 0.02449723146855831, 0.034035030752420425, 0.08392953872680664, 0.057122088968753815, 0.0616423636674881, 0.06417988240718842, 0.0496218279004097, 0.3332187533378601, 0.1425570845603943, 0.18367896974086761], "count": [2534]}, "action.tcp_pose": {"min": [0.36219945549964905, 0.19165317714214325, 0.9315968155860901, -1.2524183988571167, 1.2207916975021362, -1.5829174518585205, 0.22333841025829315, -0.27746471762657166, 0.926018238067627, -0.7367473244667053, 1.08682119846344, 0.3856114447116852], "max": [0.4012835919857025, 0.23512698709964752, 1.059147834777832, -1.0795700550079346, 1.7466111183166504, -1.2316099405288696, 0.45194941759109497, -0.025108251720666885, 1.146690011024475, 1.2088515758514404, 1.9978574514389038, 1.4541703462600708], "mean": [0.3896918296813965, 0.209965780377388, 1.0116325616836548, -1.1865445375442505, 1.6123968362808228, -1.4833674430847168, 0.3782805800437927, -0.1424008309841156, 1.0427790880203247, -0.2518399953842163, 1.6702020168304443, 0.6469193696975708], "std": [0.008366655558347702, 0.009732682257890701, 0.024525737389922142, 0.03408019617199898, 0.08400599658489227, 0.05716870725154877, 0.061661023646593094, 0.0643145740032196, 0.049676328897476196, 0.32676398754119873, 0.14890047907829285, 0.18838529288768768], "count": [2534]}, "subtask_index": {"min": [54], "max": [663], "mean": [616.4546172059984], "std": [108.41047190514942], "count": [2534]}, "observation.tactile": {"min": [-0.015151318162679672, -3.824777013505809e-05, -8.535722736269236e-05, -0.0016266475431621075, -0.00013745523756369948, -0.0002442928380332887, -0.00495909433811903, -4.908473420073278e-05, -0.00011250558600295335, -0.0005625681951642036, -1.7908714653458446e-05, -0.000110725944978185, -0.003495467361062765, -4.943383828504011e-05, -0.00010925550304818898, -0.0005970802740193903, -2.223910814791452e-05, -9.447791671846062e-05, -0.01637190952897072, -3.473624019534327e-05, -7.594635098939762e-05, -0.0010904941009357572, -9.439602763450239e-06, -0.00033686828101053834, -0.009906495921313763, -4.2829375161090866e-05, -9.836973913479596e-05, -0.0008682584739290178, -0.0001404602953698486, -0.0001735619007376954, -1.6497795581817627, -3.880971053149551e-05, -8.954051736509427e-05, -0.18735308945178986, -0.010314032435417175, -0.04124695435166359, -4.977853298187256, -0.835891604423523, -0.00010846067016245797, -0.17530250549316406, -0.026277825236320496, -0.07416464388370514, -0.009371225722134113, -4.876400635112077e-05, -0.00010713949450291693, -0.001777409459464252, -2.169531217077747e-05, -0.00021086765627842396, -0.018845105543732643, -5.651988249155693e-05, -0.00012612574209924787, -0.0021676241885870695, -2.6105481083504856e-05, -0.0004297384002711624, -0.013667045161128044, -4.2412975744809955e-05, -9.526382928015664e-05, -0.0010604290291666985, -6.646153633482754e-05, -0.0001636241067899391], "max": [0.028578152880072594, 0.03405718132853508, 0.09107067435979843, 1.6220106999753625e-06, 0.00043187066330574453, 0.00042883254354819655, 0.0019273316720500588, 0.010365777648985386, 0.030059445649385452, 1.9586484540923266e-06, 0.0001225134910782799, 7.101018582034158e-06, 0.0022529501002281904, 0.009741946123540401, 0.028850007802248, 2.025582034548279e-06, 0.00012554369459394366, 2.3997921744012274e-05, 0.010141367092728615, 0.019496170803904533, 0.057437166571617126, 1.3959440821054159e-06, 0.0002319381746929139, 0.00011159482528455555, 0.04185478389263153, 0.01815844513475895, 0.053862329572439194, 1.8415663589621545e-06, 0.00021462375298142433, 0.0006189140840433538, 4.219664573669434, 5.586295127868652, 12.30891227722168, 1.6422175121988403e-06, 0.030686883255839348, 0.0625915378332138, 0.00034935097210109234, 8.987722396850586, 12.348529815673828, 2.04317052521219e-06, 0.0045657772570848465, 0.0034612880554050207, 0.015855560079216957, 0.03232872486114502, 0.09405200183391571, 1.984182290470926e-06, 0.00041559652891010046, 0.00020819365454372019, 0.08574877679347992, 0.04685269668698311, 0.1504652351140976, 2.2962940420256928e-06, 0.0007846250082366168, 0.0009990878170356154, 0.021060382947325706, 0.01699001155793667, 0.051163673400878906, 1.7402519461029442e-06, 0.0001971213787328452, 0.00032277865102514625], "mean": [-0.0005428883014246821, 0.001967954682186246, 0.0058030374348163605, -9.674549073679373e-05, 4.144245394854806e-06, -9.622840480005834e-06, 0.00020699093875009567, 0.0001467251277063042, 0.00045409833546727896, -8.092050848063082e-06, -6.471818210229685e-07, 3.918126822100021e-06, 9.921351011143997e-05, 0.0005017950898036361, 0.0015111354878172278, -2.6851726943277754e-05, 5.106248863739893e-07, 2.3644913653697586e-06, -0.00010814412235049531, 0.0006900540320202708, 0.0020473035983741283, -3.6949517379980534e-05, 4.576409992296249e-06, -3.4009331102424767e-06, 0.00027105252956971526, 0.00021495662804227322, 0.000648557732347399, -1.0337547792005353e-05, 2.203528879363148e-07, 5.196636720938841e-06, 0.8962400555610657, 1.744381308555603, 3.602184534072876, -0.05582622438669205, 0.004126670304685831, 0.012342304922640324, -1.5920439958572388, 0.7719652652740479, 3.737696647644043, -0.05489916726946831, -0.0046440293081104755, -0.022234689444303513, 0.00028221512911841273, 0.0027084839530289173, 0.008041635155677795, -0.00014676153659820557, 3.2401381758973e-05, -5.6992257668753155e-06, -0.0013148400466889143, 0.004836142994463444, 0.014257501810789108, -0.0002971800568047911, 2.9104401619406417e-05, -3.8193462387425825e-05, -0.00017030049639288336, 0.0010869265533983707, 0.0031872782856225967, -5.976688044029288e-05, -5.763153581028746e-07, -3.0205758321244502e-06], "std": [0.001981365494430065, 0.0040021613240242004, 0.011520031839609146, 0.00020656028937082738, 3.52596071024891e-05, 3.312652916065417e-05, 0.0004653763317037374, 0.0007551917224191129, 0.002176431240513921, 3.9384769479511306e-05, 5.28658392795478e-06, 9.72296402323991e-06, 0.00058494828408584, 0.0012665399117395282, 0.0036963107995688915, 6.854539242340252e-05, 1.0058015504910145e-05, 1.0842568372027017e-05, 0.0015998664312064648, 0.002286539413034916, 0.0067383605055511, 0.00012426366447471082, 2.0074578060302883e-05, 3.143974026897922e-05, 0.0010617754887789488, 0.0012525550555437803, 0.0036454375367611647, 6.221073999768123e-05, 1.1213750440219883e-05, 1.718258499749936e-05, 1.2059317827224731, 1.7948496341705322, 3.7307491302490234, 0.06008220091462135, 0.008120249956846237, 0.019056471064686775, 1.7159907817840576, 1.2496954202651978, 3.9277503490448, 0.05771864578127861, 0.005981664638966322, 0.024599697440862656, 0.0013113480526953936, 0.0041507030837237835, 0.012271386571228504, 0.00022889107640367, 5.4564578022109345e-05, 2.3671147573622875e-05, 0.003305136924609542, 0.005611499305814505, 0.016545061022043228, 0.00034591712756082416, 4.23749334004242e-05, 6.254167237784714e-05, 0.0012734471820294857, 0.0022918465547263622, 0.006726047955453396, 0.00012162835628259927, 1.779593003448099e-05, 2.0652627426898107e-05], "count": [2534]}, "timestamp": {"min": [0.0], "max": [84.43333333333334], "mean": [42.21666666666667], "std": [24.383424470096255], "count": [2534]}, "frame_index": {"min": [0], "max": [2533], "mean": [1266.5], "std": [731.5027341028876], "count": [2534]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [2534]}, "index": {"min": [28326], "max": [30859], "mean": [29592.5], "std": [731.5027341028876], "count": [2534]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2534]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.564866304397583]], [[0.5649570822715759]], [[0.5658990144729614]]], "std": [[[0.3023017346858978]], [[0.30215761065483093]], [[0.30287137627601624]]], "count": [2534]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3013404309749603]], [[0.3052250146865845]], [[0.3040596842765808]]], "std": [[[0.1808503270149231]], [[0.18194808065891266]], [[0.18268339335918427]]], "count": [2534]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30824655294418335]], [[0.31255102157592773]], [[0.31091073155403137]]], "std": [[[0.1838056743144989]], [[0.18361526727676392]], [[0.18429426848888397]]], "count": [2534]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5688501000404358]], [[0.5690669417381287]], [[0.5696467757225037]]], "std": [[[0.3064028322696686]], [[0.30604100227355957]], [[0.30690836906433105]]], "count": [2534]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5333333611488342]], [[0.5333333611488342]], [[0.5333333611488342]]], "mean": [[[0.002935844473540783]], [[0.002935844473540783]], [[0.002935844473540783]]], "std": [[[0.03226732835173607]], [[0.03226732835173607]], [[0.03226732835173607]]], "count": [2534]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4926146864891052]], [[0.4926146864891052]], [[0.4926146864891052]]], "std": [[[0.22252249717712402]], [[0.22252249717712402]], [[0.22252249717712402]]], "count": [2534]}}}
+{"episode_index": 12, "stats": {"observation.state": {"min": [1.0504367351531982, -0.8385868072509766, -0.22445063292980194, 1.1391116380691528, -0.0846756249666214, -0.7690054178237915, 0.23440365493297577, 0.11730635911226273, 0.009761979803442955, -0.25094494223594666, 0.013779318891465664, 0.018005765974521637, 0.009030750952661037, -0.07965891808271408, 0.0034949262626469135, 0.0007751032244414091, -0.0032067468855530024, -0.08629000186920166, 0.0030446313321590424, 0.0008300876361317933, -0.0033227805979549885, -0.026949726045131683, 0.0068334899842739105, 0.0008518153917975724, 0.010647826828062534, -0.0029656034894287586, 0.0043668379075825214, 0.005747109651565552, 0.0008438337245024741, 0.9267145991325378, -1.142833948135376, -0.24263118207454681, 1.0073851346969604, -1.7002187967300415, -0.7698070406913757, -0.25630900263786316, 0.028872547671198845, 0.004428754560649395, -0.21308331191539764, -0.23633623123168945, 0.004151576664298773, 0.008406426757574081, -0.059497278183698654, 0.00528936879709363, 0.001727575552649796, 0.005637320224195719, -0.08586537837982178, 0.003443514695391059, 0.0013174094492569566, -0.0023461829405277967, -0.13777108490467072, 0.003542437683790922, 0.0008739865152165294, 0.0073714894242584705, -0.001660040346905589, -0.1543297916650772, 0.005383682437241077, 0.0015364602440968156, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0011504855938255787, -9.58738019107841e-05, 9.58738019107841e-05, -0.7808920741081238], "max": [1.2441548109054565, -0.619041383266449, -0.0007587212603539228, 1.5692452192306519, 0.08146397024393082, 0.08600083738565445, 0.6631231307983398, 1.3954535722732544, 0.2959308326244354, -0.006451662629842758, 0.2721845209598541, 0.580827534198761, 0.3134436011314392, 0.07169969379901886, 0.026203259825706482, 0.02697518654167652, 0.08872204273939133, 0.13743261992931366, 0.01498914510011673, 0.013062352314591408, 0.00243032886646688, 0.1451399028301239, 0.0068856109865009785, 0.0017355571035295725, 0.24105530977249146, 0.0029491721652448177, 0.2213374227285385, 0.005797457415610552, 0.0017293492564931512, 1.3511532545089722, -0.30355536937713623, -0.00042076612589880824, 1.7848572731018066, 0.15539142489433289, -0.04422885924577713, 0.6981486678123474, 1.357563853263855, 0.27633264660835266, 0.03233785927295685, 0.18359577655792236, 0.4743756651878357, 1.0503818988800049, 0.11809182912111282, 0.6683835983276367, 0.5714883208274841, 1.338318943977356, 0.22165387868881226, 1.4299067258834839, 0.6892432570457458, 1.4260295629501343, 0.2451561987400055, 1.52699875831604, 0.9831235408782959, 0.13251876831054688, 1.3971139192581177, 0.2299707680940628, 1.4477752447128296, 1.3082011938095093, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.13077186048030853, -0.5534794330596924], "mean": [1.1774722337722778, -0.6889511346817017, -0.22276993095874786, 1.2244106531143188, 0.009708906523883343, -0.05988031625747681, 0.3397083282470703, 1.3388983011245728, 0.28459081053733826, -0.1973222941160202, 0.23803474009037018, 0.5244985818862915, 0.2798217833042145, 0.05995309725403786, 0.022428292781114578, 0.025766920298337936, 0.06653238832950592, 0.11562880128622055, 0.010336440056562424, 0.010196205228567123, 1.1055977665819228e-05, 0.11923925578594208, 0.006858594715595245, 0.0016318242996931076, 0.23932750523090363, 0.0003304627607576549, 0.2140970677137375, 0.0057711852714419365, 0.0015742442337796092, 1.226019263267517, -0.5923452377319336, -0.21114481985569, 1.2528676986694336, -1.3277857303619385, -0.3540197014808655, 0.06262800097465515, 1.244735836982727, 0.15017808973789215, -0.09253250807523727, -0.13129588961601257, 0.23367951810359955, 0.8420618772506714, 0.08188988268375397, 0.2082725316286087, 0.16536034643650055, 1.1739935874938965, -0.03374316915869713, 1.2538570165634155, 0.39146122336387634, 1.3300786018371582, -0.08903198689222336, 1.358353853225708, 0.7696315050125122, 0.04995598644018173, 1.2767763137817383, -0.10850753635168076, 0.9203962087631226, 1.2657955884933472, 0.5627039670944214, -1.1068617105484009, 0.5440567135810852, -0.000848726776894182, -2.9160668191252626e-07, 0.08831970393657684, -0.7044230103492737], "std": [0.04660237208008766, 0.042444951832294464, 0.014707570895552635, 0.06840361654758453, 0.025827817618846893, 0.12450549006462097, 0.06618978083133698, 0.08151479810476303, 0.0222177654504776, 0.027328867465257645, 0.020501812919974327, 0.036947283893823624, 0.026797188445925713, 0.015932230278849602, 0.0022783675231039524, 0.002427566796541214, 0.01503557525575161, 0.027728967368602753, 0.0029698750004172325, 0.002825292991474271, 0.0013763305032625794, 0.030517449602484703, 7.683037438255269e-06, 0.00014544682926498353, 0.015858890488743782, 0.000904890417587012, 0.02672368474304676, 6.795247372792801e-06, 0.0002038143138634041, 0.10880757868289948, 0.1696314811706543, 0.021514182910323143, 0.20134799182415009, 0.29180005192756653, 0.1384066492319107, 0.17559020221233368, 0.11796969920396805, 0.04237988591194153, 0.049817074090242386, 0.0629267767071724, 0.10900835692882538, 0.1655212938785553, 0.02266523614525795, 0.12039367109537125, 0.10660368204116821, 0.18989557027816772, 0.03166790306568146, 0.23648695647716522, 0.12588851153850555, 0.2222493439912796, 0.042676832526922226, 0.24800676107406616, 0.16252338886260986, 0.010847967118024826, 0.21434512734413147, 0.044368550181388855, 0.2106138914823532, 0.22093379497528076, 3.0906863685231656e-05, 3.7179121136432514e-05, 7.272477523656562e-05, 0.00018351708422414958, 5.838270681124413e-06, 0.02293127030134201, 0.046384699642658234], "count": [2959]}, "observation.state.joint_torque": {"min": [-31.326000213623047, -10.792499542236328, -17.66699981689453, -9.76200008392334, -0.31360000371932983, -1.5080000162124634, 1.0784000158309937, -0.8035959005355835, -0.27635547518730164, -0.4001460373401642, -0.37032151222229004, -0.1062563955783844, -0.4260021150112152, -0.48932674527168274, -0.08301279693841934, -0.04281017929315567, -0.22835248708724976, -0.5325026512145996, -0.09131408482789993, -0.03139413148164749, -0.26673105359077454, -0.4950835704803467, -0.0016602561809122562, -0.0321076326072216, -0.11126967519521713, -0.14487908780574799, -0.5612865686416626, -0.0016602561809122562, -0.027826614677906036, 12.555000305175781, -12.237000465393066, 5.763000011444092, -13.038999557495117, -2.233599901199341, -1.6335999965667725, -3.0, -1.5600712299346924, -0.8481693267822266, -0.3119150996208191, -0.8239031434059143, -0.21749354898929596, -0.4691780209541321, -1.011275291442871, -0.23575636744499207, -0.06492877006530762, -1.2866415977478027, -1.1935734748840332, -0.35861530900001526, -0.04209667816758156, -0.5545703172683716, -0.36363694071769714, -0.43000632524490356, -0.05850724130868912, -0.15041197836399078, -0.7416658997535706, -0.7195981740951538, -0.4681922197341919, -0.14912211894989014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.88949966430664, 14.1225004196167, -11.71500015258789, 6.236000061035156, 1.6615999937057495, 1.6055999994277954, 2.4639999866485596, 0.32857006788253784, 0.333664208650589, 0.2970028221607208, 0.2970028221607208, 0.059769220650196075, 0.44615086913108826, 0.2955150008201599, 0.0796922892332077, 0.016410568729043007, 0.267690509557724, 0.4480697810649872, 0.11123716086149216, 0.013556556776165962, 0.25425803661346436, 0.35596123337745667, 0.0016602561809122562, -0.0, 0.069928377866745, 0.14775750041007996, 0.47493475675582886, 0.0016602561809122562, -0.0, 37.23149871826172, 12.09749984741211, 19.15399932861328, 1.4479999542236328, 0.41119998693466187, 3.1744000911712646, 0.5712000131607056, 2.4808313846588135, 4.450978755950928, 2.231870412826538, 1.4638882875442505, 0.7919421792030334, 2.1463215351104736, 0.7243955135345459, 1.064224123954773, 0.21405088901519775, 0.5305836796760559, 0.26864996552467346, 0.5196601748466492, 0.06564227491617203, 0.48452943563461304, 0.3262178301811218, 0.5893909335136414, 0.08490685373544693, 0.11962589621543884, 0.5516919493675232, 0.4499887228012085, 0.49807682633399963, 0.0956093966960907, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.071975708007812, 2.0793211460113525, -13.57498836517334, -1.8322787284851074, -0.01701061986386776, -0.1440242975950241, 1.6864649057388306, -0.00029782921774312854, 0.0007557747885584831, 0.008951238356530666, 0.005204266402870417, -0.00039219940663315356, 0.011981181800365448, 0.010367004200816154, 0.0005341544165275991, 0.00027102953754365444, 0.0011050528846681118, 0.00584819121286273, 0.001540745492093265, -7.089172140695155e-05, 0.010238599963486195, 0.01900513656437397, 3.3665212413325207e-06, -0.0011142620351165533, -0.00037559165502898395, 0.0013796966522932053, 0.006633264012634754, -5.610868925032264e-07, -0.0021588343661278486, 27.816593170166016, 0.9119871854782104, 12.487893104553223, -2.1283271312713623, -0.3999580442905426, 1.5388702154159546, -0.9841686487197876, 0.4924580454826355, 1.4614043235778809, 0.4403122663497925, 0.15575739741325378, 0.16096289455890656, 0.8769159913063049, -0.10552684217691422, 0.4855700433254242, 0.10295557230710983, -0.09482520073652267, -0.1379825472831726, -0.0007423202623613179, -0.0006594884907826781, -0.004032079130411148, -0.006842067465186119, -0.0012327054282650352, -0.0012379606487229466, -0.00044277150300331414, -0.018308615311980247, 0.0020440875086933374, -0.017628222703933716, 0.0034840675070881844, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.5974428653717041, 0.8735727071762085, 0.5394094586372375, 0.673145055770874, 0.1868942379951477, 0.3382357656955719, 0.1773858368396759, 0.03572334349155426, 0.0253288634121418, 0.055417370051145554, 0.05485384911298752, 0.007517797872424126, 0.06134679168462753, 0.05132726952433586, 0.00572199746966362, 0.004030707757920027, 0.030843298882246017, 0.04772312194108963, 0.012604771181941032, 0.0034412445966154337, 0.034112848341464996, 0.06632603704929352, 0.00019777481793425977, 0.004132079426199198, 0.006482700817286968, 0.013985596597194672, 0.05618059262633324, 6.824473530286923e-05, 0.004947078414261341, 4.407750129699707, 2.0323715209960938, 1.4868837594985962, 1.7264684438705444, 0.32223719358444214, 0.6758773326873779, 0.44933104515075684, 0.8783546686172485, 1.425395131111145, 0.47705382108688354, 0.34904584288597107, 0.17229802906513214, 0.8557735085487366, 0.3153848946094513, 0.46671321988105774, 0.0965777337551117, 0.2220643311738968, 0.19965064525604248, 0.029414352029561996, 0.00820536445826292, 0.06683117896318436, 0.05986615642905235, 0.027863096445798874, 0.00982393603771925, 0.018227389082312584, 0.12315013259649277, 0.09458516538143158, 0.038192130625247955, 0.005950351245701313, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2959]}, "observation.state.tcp": {"min": [0.36187174916267395, 0.19077061116695404, 0.9623982906341553, -1.2111852169036865, 1.2184549570083618, -1.5849146842956543, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23836348950862885, -0.27794069051742554, 0.9498660564422607, -0.6868425607681274, 1.1676877737045288, 0.49630481004714966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4136498272418976, 0.24539311230182648, 1.056395173072815, -0.9437441229820251, 1.8553727865219116, -1.2292300462722778, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4624658524990082, -0.043698739260435104, 1.1072341203689575, 1.2084572315216064, 1.9504437446594238, 1.3802053928375244, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4022710621356964, 0.21138134598731995, 1.0042393207550049, -1.1512631177902222, 1.7257559299468994, -1.4855167865753174, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4012880325317383, -0.1456698328256607, 1.0449455976486206, -0.2318364381790161, 1.6919187307357788, 0.7444247007369995, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008081522770226002, 0.00965657364577055, 0.02480264939367771, 0.04960840195417404, 0.10914744436740875, 0.05421407148241997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.061633069068193436, 0.053920820355415344, 0.04396934062242508, 0.2676468789577484, 0.12953856587409973, 0.14712387323379517, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2959]}, "action": {"min": [1.0510008335113525, -0.8386213779449463, -0.22443486750125885, 1.1390994787216187, -0.08619046211242676, -0.7636534571647644, 0.2343982458114624, 0.0, 0.0, -0.25357145071029663, 0.0, 0.0, 0.0, -0.08652333170175552, 0.0, 0.0, 0.0, -0.09619823843240738, 0.0, 0.0, 0.0, -0.09910383820533752, 0.0, 0.0, 0.0, 0.0, -0.0013339745346456766, 0.0, 0.0, 0.9267163872718811, -1.1429593563079834, -0.24262849986553192, 1.007362961769104, -1.7002067565917969, -0.7699999809265137, -0.2563754618167877, 0.0, 0.0, -0.21171453595161438, -0.23757454752922058, 0.0, 0.0, -0.05861615389585495, 0.0, 0.0, 0.0, -0.09014342725276947, 0.0, 0.0, 0.0, -0.1377987116575241, 0.0, 0.0, -1.4452400387554576e-09, 0.0, -0.15724097192287445, 0.0, 0.0, 0.5625877976417542, -1.1069586277008057, 0.543893039226532, -0.0011992588406428695, -1.270526809094008e-05, -2.3603195528652025e-18, -0.7808655500411987], "max": [1.2441538572311401, -0.6190366744995117, -0.005181536544114351, 1.5658210515975952, 0.08144549280405045, 0.08600442111492157, 0.6631854176521301, 1.406643271446228, 0.2925720810890198, 0.0, 0.27400749921798706, 0.5911551713943481, 0.3248428702354431, 0.07475595921278, 0.031137319281697273, 0.03085838444530964, 0.08648797869682312, 0.14199097454547882, 0.02032398246228695, 0.016197925433516502, 0.0, 0.15289026498794556, 0.0, 0.0, 0.26180002093315125, 0.0, 0.2306373566389084, 0.0, 0.0, 1.3511494398117065, -0.30355918407440186, 3.757447749315182e-17, 1.7849546670913696, 0.15513716638088226, -0.04412515088915825, 0.9863060116767883, 1.3626818656921387, 0.28649166226387024, 0.03570449724793434, 0.19763962924480438, 0.47744956612586975, 1.064616322517395, 0.11831718683242798, 0.6722544431686401, 0.5972050428390503, 1.3444980382919312, 0.22302238643169403, 1.4359521865844727, 0.6913135051727295, 1.4292813539505005, 0.24730053544044495, 1.5304923057556152, 0.9841224551200867, 0.14655980467796326, 1.4000362157821655, 0.23076841235160828, 1.4521671533584595, 1.4511429071426392, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -1.8697634187001253e-21, 1.284163590753451e-05, 0.13105206191539764, -0.5534167289733887], "mean": [1.1775367259979248, -0.6889764070510864, -0.2227821946144104, 1.2244257926940918, 0.009644540026783943, -0.05992569401860237, 0.3397376239299774, 1.3478506803512573, 0.28529122471809387, -0.19511263072490692, 0.2404814511537552, 0.5293534994125366, 0.2830631136894226, 0.06002938002347946, 0.028209758922457695, 0.028082692995667458, 0.06641724705696106, 0.12235131114721298, 0.01596347987651825, 0.013084406033158302, 0.0, 0.12497399002313614, 0.0, 0.0, 0.25993508100509644, 0.0, 0.2207338809967041, 0.0, 0.0, 1.226493239402771, -0.5930147171020508, -0.211125448346138, 1.2535011768341064, -1.3281631469726562, -0.35443487763404846, 0.06471610814332962, 1.2457008361816406, 0.1547301709651947, -0.09193692356348038, -0.13092036545276642, 0.23517899215221405, 0.8529870510101318, 0.07652712613344193, 0.22256450355052948, 0.17977946996688843, 1.1722346544265747, -0.033507607877254486, 1.2534490823745728, 0.3912283778190613, 1.3281044960021973, -0.08854348957538605, 1.3574460744857788, 0.7694066762924194, 0.05289904400706291, 1.2746961116790771, -0.10828520357608795, 0.9181931018829346, 1.3385995626449585, 0.5627062916755676, -1.1068754196166992, 0.5440964102745056, -0.0008936942904256284, -1.126964434661204e-06, 0.08835809677839279, -0.7044845819473267], "std": [0.04659052565693855, 0.04247724264860153, 0.014686176553368568, 0.06842446327209473, 0.02582615613937378, 0.12442919611930847, 0.06623148918151855, 0.09980978071689606, 0.025494059547781944, 0.028933705762028694, 0.024678438901901245, 0.04548237472772598, 0.028897177428007126, 0.014714336954057217, 0.0026901760138571262, 0.002651873044669628, 0.014871036633849144, 0.027718225494027138, 0.0034814069513231516, 0.0026539508253335953, 0.0, 0.030975863337516785, 0.0, 0.0, 0.021976323798298836, 0.0, 0.026742830872535706, 0.0, 0.0, 0.10864119231700897, 0.17024162411689758, 0.021626627072691917, 0.20178097486495972, 0.29207515716552734, 0.1386100798845291, 0.18496255576610565, 0.1283624768257141, 0.04670139402151108, 0.050463639199733734, 0.06332104653120041, 0.11039436608552933, 0.17210589349269867, 0.02132178284227848, 0.12250461429357529, 0.12385056912899017, 0.1899142861366272, 0.03239276632666588, 0.2361968457698822, 0.12584568560123444, 0.22265338897705078, 0.04299747943878174, 0.24853074550628662, 0.16262510418891907, 0.014300990849733353, 0.21492965519428253, 0.044564660638570786, 0.21083375811576843, 0.2363831251859665, 2.3383026928058825e-05, 1.2988346497877501e-05, 2.9898084903834388e-05, 0.00017461292736697942, 6.660469352937071e-06, 0.022959653288125992, 0.04644983261823654], "count": [2959]}, "observation.state.tcp_pose": {"min": [0.36187174916267395, 0.19077061116695404, 0.9623982906341553, -1.2111852169036865, 1.2184549570083618, -1.5849146842956543, 0.23836348950862885, -0.27794069051742554, 0.9498660564422607, -0.6868425607681274, 1.1676877737045288, 0.49630481004714966], "max": [0.4136498272418976, 0.24539311230182648, 1.056395173072815, -0.9437441229820251, 1.8553727865219116, -1.2292300462722778, 0.4624658524990082, -0.043698739260435104, 1.1072341203689575, 1.2084572315216064, 1.9504437446594238, 1.3802053928375244], "mean": [0.4022710621356964, 0.21138134598731995, 1.0042393207550049, -1.1512631177902222, 1.7257559299468994, -1.4855167865753174, 0.4012880325317383, -0.1456698328256607, 1.0449455976486206, -0.2318364381790161, 1.6919187307357788, 0.7444247007369995], "std": [0.008081522770226002, 0.00965657364577055, 0.02480264939367771, 0.04960840195417404, 0.10914744436740875, 0.05421407148241997, 0.061633069068193436, 0.053920820355415344, 0.04396934062242508, 0.2676468789577484, 0.12953856587409973, 0.14712387323379517], "count": [2959]}, "action.tcp_pose": {"min": [0.36208343505859375, 0.19076474010944366, 0.9623473882675171, -1.211197853088379, 1.2215615510940552, -1.5849794149398804, 0.23729561269283295, -0.28238287568092346, 0.9498594403266907, -0.6870265007019043, 1.0997146368026733, 0.4961164593696594], "max": [0.41367125511169434, 0.24540568888187408, 1.0563520193099976, -0.9428420066833496, 1.8554022312164307, -1.2312073707580566, 0.46248090267181396, -0.04369112104177475, 1.106852650642395, 1.2088515758514404, 1.9503469467163086, 1.455643653869629], "mean": [0.40229111909866333, 0.21139287948608398, 1.004240870475769, -1.1511871814727783, 1.7256886959075928, -1.4855326414108276, 0.40125373005867004, -0.14582237601280212, 1.045390248298645, -0.23354019224643707, 1.6890777349472046, 0.7453362345695496], "std": [0.00805240124464035, 0.009665530174970627, 0.024840032681822777, 0.04973496496677399, 0.10922940820455551, 0.05402688682079315, 0.06165767461061478, 0.05410569906234741, 0.043943557888269424, 0.26151472330093384, 0.1363118290901184, 0.1520969122648239], "count": [2959]}, "subtask_index": {"min": [54], "max": [725], "mean": [682.8428523149713], "std": [83.20892715369605], "count": [2959]}, "observation.tactile": {"min": [-0.009371322579681873, -3.8300764572340995e-05, -8.37266561575234e-05, -0.0011673568515107036, -6.354664219543338e-05, -0.0002216014836449176, -0.0011928870808333158, -5.026408689445816e-05, -0.00011589851783355698, -0.00013931456487625837, -2.0235487681929953e-05, -1.2303256880841218e-05, -0.007849454879760742, -4.592146069626324e-05, -0.00010208194726146758, -0.0014816789189353585, -8.818843343760818e-05, -0.00016220253019127995, -0.008052738383412361, -3.432274388615042e-05, -7.45692232158035e-05, -0.0013781401794403791, -2.536774263717234e-05, -0.00018718847422860563, -0.006713263690471649, -4.489262937568128e-05, -0.0001016170863294974, -0.0006158698233775795, -6.0870293964399025e-05, -0.00012976923608221114, -0.9582610130310059, -3.875736001646146e-05, -8.952383359428495e-05, -0.2011987268924713, -0.010684316046535969, -0.030425837263464928, -5.955563068389893, -0.10558904707431793, -0.00010701744758989662, -0.2286878377199173, -0.04499925673007965, -0.10301003605127335, -0.011003423482179642, -4.538665962172672e-05, -9.997094457503408e-05, -0.0014604871394112706, -3.5912671592086554e-05, -0.00026604143204167485, -0.022584030404686928, -5.759552732342854e-05, -0.00012867584882769734, -0.001862939796410501, -7.14728157618083e-05, -0.0004580034874379635, -0.0061209737323224545, -4.4179600081406534e-05, -9.844193118624389e-05, -0.0014979360857978463, -4.271426587365568e-05, -0.00015183679352048784], "max": [0.0031660650856792927, 0.019116804003715515, 0.052671853452920914, 1.5978813507899758e-06, 0.00018445751629769802, 7.91726415627636e-06, 0.0003659969079308212, 0.003005241509526968, 0.008685270324349403, 2.002010205615079e-06, 3.9467042370233685e-05, 7.215725872811163e-06, 0.002769267652183771, 0.02414177916944027, 0.07091988623142242, 1.928196070366539e-06, 0.00010707144974730909, 3.7934274587314576e-05, 0.001297666341997683, 0.023624755442142487, 0.07128015905618668, 1.3986416433908744e-06, 0.00014509825268760324, 5.6915432651294395e-06, 0.004590216092765331, 0.010496484115719795, 0.031018633395433426, 1.9044733789996826e-06, 0.00016264026635326445, 4.8890251491684467e-05, 5.562020778656006, 6.752724647521973, 11.409405708312988, 1.660197881392378e-06, 0.02941691130399704, 0.09419256448745728, 0.8904911875724792, 7.599124431610107, 12.90865707397461, 2.0024722289235797e-06, 0.003049330087378621, 0.02265605889260769, 0.019535856321454048, 0.02390667423605919, 0.0694875568151474, 1.827390406106133e-06, 0.00023068346490617841, 0.00023202874581329525, 0.004546504933387041, 0.0324057973921299, 0.09376832097768784, 2.375664053033688e-06, 0.00020034454064443707, 1.4728442693012767e-05, 0.00728441821411252, 0.02358635887503624, 0.06756632030010223, 1.795546040739282e-06, 0.00016969953139778227, 0.00013993080938234925], "mean": [-0.0006350178155116737, 0.0014678561128675938, 0.004522301256656647, -6.422529986593872e-05, -3.2752436709415633e-06, -6.4681426010793075e-06, 0.0003505749918986112, -4.090660877409391e-05, -8.946054003899917e-05, 1.5594450815115124e-06, -1.9008417666555033e-06, 6.898112133058021e-06, -8.06730822660029e-05, 0.0008348589763045311, 0.002488322788849473, -4.0562666981713846e-05, -8.415275942752487e-08, -6.338577236419951e-07, -0.0001432887656847015, 0.001055126078426838, 0.003066917648538947, -5.675350621459074e-05, 6.997181571932742e-06, -4.835382242163178e-06, 7.428190292557701e-05, 0.00044204085133969784, 0.0013048495166003704, -2.0215442418702878e-05, -1.1219947282370413e-06, 2.7329690510669025e-06, 1.6194936037063599, 2.1443207263946533, 4.500626564025879, -0.0782601609826088, 0.005609308835119009, 0.02552475780248642, -1.8935827016830444, 1.0613627433776855, 5.247947692871094, -0.0754212886095047, -0.0075684948824346066, -0.02600249834358692, -0.0004718919808510691, 0.0031889802776277065, 0.009524697437882423, -0.00020123740250710398, 1.7564047084306367e-05, -1.7430369553039782e-05, -0.0006076355930417776, 0.0019997279159724712, 0.005944571923464537, -0.00010562380339251831, 3.827141881629359e-06, -1.3928614862379618e-05, -0.00013063281949143857, 0.0019017355516552925, 0.005615579430013895, -0.00011682070180540904, 1.230262205353938e-05, -7.318935331568355e-06], "std": [0.0013766512274742126, 0.0023536887019872665, 0.007068650331348181, 0.00010720238788053393, 1.618784517631866e-05, 1.8469536371412687e-05, 4.1606508602853864e-05, 9.540036990074441e-05, 0.00028280471451580524, 4.612205430021277e-06, 1.138052425631031e-06, 8.336320433954825e-07, 0.0009310226305387914, 0.001793504343368113, 0.00526615371927619, 9.198681073030457e-05, 9.992675586545374e-06, 1.695487299002707e-05, 0.0008772485889494419, 0.0025479206815361977, 0.007323259487748146, 0.00013955887698102742, 1.9558094209060073e-05, 2.222584589617327e-05, 0.0007763826288282871, 0.001332407584413886, 0.0038716101553291082, 6.403870065696537e-05, 1.1898181583092082e-05, 1.3328773093235213e-05, 1.6789627075195312, 2.012474298477173, 3.976747989654541, 0.06867681443691254, 0.007841229438781738, 0.02761649526655674, 1.890779733657837, 1.3321219682693481, 4.709946632385254, 0.0680965855717659, 0.008330856449902058, 0.027826448902487755, 0.0017654438270255923, 0.004197135102003813, 0.012388971634209156, 0.0002648743393365294, 2.7555772248888388e-05, 3.573801586753689e-05, 0.002456426154822111, 0.003914445172995329, 0.011565488763153553, 0.00022079619520809501, 2.433452391414903e-05, 4.896292739431374e-05, 0.000887830916326493, 0.0030650922562927008, 0.008938009850680828, 0.00019121904915664345, 2.608439899631776e-05, 2.111065805365797e-05], "count": [2959]}, "timestamp": {"min": [0.0], "max": [98.6], "mean": [49.3], "std": [28.47298914956263], "count": [2959]}, "frame_index": {"min": [0], "max": [2958], "mean": [1479.0], "std": [854.1896744868789], "count": [2959]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [2959]}, "index": {"min": [30860], "max": [33818], "mean": [32339.0], "std": [854.1896744868789], "count": [2959]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2959]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.559795618057251]], [[0.5598835349082947]], [[0.5605825185775757]]], "std": [[[0.30006611347198486]], [[0.29983821511268616]], [[0.30056077241897583]]], "count": [2959]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29994168877601624]], [[0.30456414818763733]], [[0.30342546105384827]]], "std": [[[0.18132029473781586]], [[0.18214786052703857]], [[0.18311762809753418]]], "count": [2959]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3094891607761383]], [[0.31376153230667114]], [[0.3117278516292572]]], "std": [[[0.18498821556568146]], [[0.18506526947021484]], [[0.18537777662277222]]], "count": [2959]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5632136464118958]], [[0.5634193420410156]], [[0.5637931227684021]]], "std": [[[0.3049817681312561]], [[0.3045668303966522]], [[0.3054286241531372]]], "count": [2959]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5882353186607361]], [[0.5882353186607361]], [[0.5882353186607361]]], "mean": [[[0.0038438974879682064]], [[0.0038438974879682064]], [[0.0038438974879682064]]], "std": [[[0.03789203241467476]], [[0.03789203241467476]], [[0.03789203241467476]]], "count": [2959]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49247705936431885]], [[0.49247705936431885]], [[0.49247705936431885]]], "std": [[[0.22258661687374115]], [[0.22258661687374115]], [[0.22258661687374115]]], "count": [2959]}}}
+{"episode_index": 13, "stats": {"observation.state": {"min": [0.9933993220329285, -0.8075164556503296, -0.20881156623363495, 1.1842494010925293, -0.04312008246779442, -0.7668462991714478, 0.3812617063522339, 0.006903487723320723, -0.001117305364459753, -0.25791311264038086, 0.003930129576474428, 0.0035516563802957535, 0.0035918904468417168, -0.12343867123126984, 0.0035069813020527363, 0.0008664483320899308, -0.001382345100864768, -0.14524194598197937, 0.0030733507592231035, 0.0008376258774660528, -0.0033029126934707165, -0.026945065706968307, 0.0068334899842739105, 0.0008278705645352602, 0.005688901524990797, -0.0026447344571352005, -0.026107316836714745, 0.005758809857070446, 0.0008509285398758948, 0.9295932054519653, -1.155402421951294, -0.2420841008424759, 0.9964838027954102, -1.5942896604537964, -0.7687612175941467, -0.26803940534591675, 0.006668065674602985, 0.0009904713369905949, -0.20837056636810303, -0.2019653022289276, 0.0032818340696394444, 0.005355944857001305, -0.07702718675136566, 0.003527900669723749, 0.0013861398911103606, -0.0008132168441079557, -0.07520865648984909, 0.0034218861255794764, 0.0008753167930990458, -0.0019119825446978211, -0.12878946959972382, 0.0038643807638436556, 0.0008620141306892037, 0.006651145406067371, -0.0028279884718358517, -0.15179164707660675, 0.005728672258555889, 0.0008345218957401812, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0011504855938255787, -9.58738019107841e-05, -0.003067961661145091, -0.7972865104675293], "max": [1.2406773567199707, -0.6259503960609436, -0.0032521591056138277, 1.56754732131958, 0.19798347353935242, 0.0061133927665650845, 0.6852789521217346, 1.3164513111114502, 0.29616284370422363, 0.00041630942723713815, 0.2603856027126312, 0.6039716005325317, 0.5223097205162048, 0.058809664100408554, 0.03787298873066902, 0.04548676311969757, 0.25606754422187805, 0.14827576279640198, 0.04560990631580353, 0.03163157403469086, 0.02728409320116043, 0.17181070148944855, 0.006898375228047371, 0.003784170839935541, 0.2490861415863037, 0.1366782784461975, 0.2407815158367157, 0.026409970596432686, 0.02247799187898636, 1.3699901103973389, -0.23542223870754242, -0.00108349381480366, 1.8319525718688965, 0.10360661894083023, -0.08705509454011917, 0.6981521248817444, 1.3714911937713623, 0.2851555049419403, 0.1915244162082672, 0.18080586194992065, 0.47030743956565857, 1.0631237030029297, 0.17200231552124023, 0.6897152066230774, 0.5166851878166199, 1.4079077243804932, 0.2809036374092102, 1.565539002418518, 1.3083875179290771, 1.4646462202072144, 0.2918856143951416, 1.6416676044464111, 1.3081773519515991, 0.2425142079591751, 1.4541966915130615, 0.2974802553653717, 1.505804419517517, 1.3081796169281006, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 0.0001917476038215682, 0.14572817087173462, -0.600361704826355], "mean": [1.1327348947525024, -0.6797995567321777, -0.20645493268966675, 1.2686630487442017, 0.08281233161687851, -0.13767258822917938, 0.4655041992664337, 1.2205570936203003, 0.28610777854919434, -0.12964853644371033, 0.16852301359176636, 0.4623250663280487, 0.4860595762729645, 0.040946148335933685, 0.03725725784897804, 0.04249998927116394, 0.1835346221923828, 0.12534694373607635, 0.03541906177997589, 0.025846272706985474, 0.003490390023216605, 0.13365794718265533, 0.006863343063741922, 0.0016289728228002787, 0.21500621736049652, 0.05879126861691475, 0.211164191365242, 0.012811643071472645, 0.012508004903793335, 1.215851068496704, -0.6290732622146606, -0.2196628600358963, 1.3010011911392212, -1.317376971244812, -0.38901767134666443, 0.04987503960728645, 1.2630943059921265, 0.13759884238243103, -0.04979053884744644, -0.12350039929151535, 0.21080583333969116, 0.7875097393989563, 0.09658154845237732, 0.19799046218395233, 0.20914112031459808, 1.1841325759887695, -0.011221718974411488, 1.2798722982406616, 0.5349291563034058, 1.2988663911819458, -0.062346573919057846, 1.4070661067962646, 0.6640406847000122, 0.03705897927284241, 1.22663414478302, -0.08034419268369675, 1.0612502098083496, 1.2576546669006348, 0.5627045035362244, -1.1068665981292725, 0.5440489053726196, -0.0007154684863053262, 1.3017488242894615e-07, 0.10367678850889206, -0.7275345921516418], "std": [0.06159546598792076, 0.03235827386379242, 0.014036070555448532, 0.060361236333847046, 0.05190059542655945, 0.10921882092952728, 0.05114313215017319, 0.11815739423036575, 0.03103022463619709, 0.05190680921077728, 0.02509804628789425, 0.08161717653274536, 0.05809023603796959, 0.014284978620707989, 0.0036044802982360125, 0.004583826754242182, 0.03431972116231918, 0.02852649986743927, 0.00535575719550252, 0.004357813857495785, 0.006989472080022097, 0.03051210381090641, 8.203011930163484e-06, 0.0005441867979243398, 0.045484643429517746, 0.03556787222623825, 0.03868294879794121, 0.006175765302032232, 0.00612711301073432, 0.10612775385379791, 0.16559824347496033, 0.021468929946422577, 0.18257726728916168, 0.26463237404823303, 0.12657809257507324, 0.15819568932056427, 0.11980658769607544, 0.04225408285856247, 0.05772026255726814, 0.06429872661828995, 0.10629137605428696, 0.192226380109787, 0.03236919268965721, 0.15098454058170319, 0.11836837232112885, 0.21849949657917023, 0.0477113276720047, 0.27118855714797974, 0.453869104385376, 0.2429506778717041, 0.06618764996528625, 0.2819426357746124, 0.41245314478874207, 0.021420273929834366, 0.23370428383350372, 0.06851328164339066, 0.26497742533683777, 0.24442338943481445, 3.477455538813956e-05, 3.07389345834963e-05, 6.387256871676072e-05, 0.00020807450346183032, 6.607693649129942e-06, 0.0223236083984375, 0.03691255673766136], "count": [2946]}, "observation.state.joint_torque": {"min": [-31.031999588012695, -11.521499633789062, -16.72599983215332, -9.347000122070312, -0.13840000331401825, -1.5504000186920166, 1.1895999908447266, -0.6125667095184326, -0.5730873942375183, -0.4635232090950012, -0.4386694133281708, -0.23575636744499207, -0.44902926683425903, -0.47685372829437256, -0.0979551151394844, -0.038529157638549805, -0.3809072971343994, -0.5085160732269287, -0.12783971428871155, -0.0321076326072216, -0.24946071207523346, -0.6083002686500549, -0.0033205123618245125, -0.03638865053653717, -0.11478808522224426, -0.35692068934440613, -0.542097270488739, -0.13448072969913483, -0.03496164828538895, 11.138999938964844, -11.409000396728516, -1.3380000591278076, -12.010000228881836, -3.150399923324585, -4.999199867248535, -3.1456000804901123, -1.6976121664047241, -0.8214252591133118, -0.393932580947876, -0.8537276983261108, -0.16104483604431152, -0.5065971612930298, -1.0285457372665405, -0.13780125975608826, -0.05636673793196678, -1.2732090950012207, -1.2041276693344116, -0.1776474118232727, -0.050658710300922394, -0.757976770401001, -0.3761100172996521, -0.13946151733398438, -0.06136125698685646, -0.14205574989318848, -0.735909104347229, -0.46534016728401184, -0.3337114453315735, -0.08133933693170547, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.28849983215332, 7.85699987411499, -10.664999961853027, -0.04800000041723251, 1.6055999994277954, 1.232800006866455, 2.514400005340576, 0.5654461979866028, 0.30309954285621643, 0.5716372132301331, 0.3690788149833679, 0.09629485011100769, 0.8174635171890259, 0.3099069595336914, 0.08135254681110382, 0.02354559674859047, 0.6735438704490662, 0.2935960590839386, 0.2125127911567688, 0.02354559674859047, 0.30223122239112854, 0.5564892888069153, 0.0016602561809122562, 0.009275538846850395, 0.0725671797990799, 0.40105605125427246, 0.5871921181678772, 0.048147425055503845, 0.014983562752604485, 39.99449920654297, 11.503499984741211, 22.461999893188477, 1.784999966621399, 0.6191999912261963, 3.8215999603271484, 1.5047999620437622, 2.6451165676116943, 4.854686737060547, 2.149852991104126, 1.395540475845337, 0.5943716764450073, 2.1434431076049805, 0.9325993657112122, 1.0575830936431885, 0.21405088901519775, 1.5437779426574707, 0.24562285840511322, 0.6358780860900879, 0.1212955042719841, 1.3394120931625366, 0.2600148022174835, 0.6441793441772461, 0.06278826296329498, 0.11874628812074661, 1.1715059280395508, 0.442313015460968, 0.6524806022644043, 0.13199804723262787, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.389474868774414, 2.018981695175171, -13.418861389160156, -2.509981393814087, 0.16402962803840637, -0.27983731031417847, 1.6847646236419678, 0.0013777093263342977, -0.0010448468383401632, 0.03172196447849274, 0.004592836368829012, 0.005431074649095535, 0.000492102699354291, 0.002383679151535034, 8.1152371421922e-05, 0.0001789799571270123, -0.007281324826180935, 0.00932786613702774, -0.00017019572260323912, -0.0003741895779967308, 0.021923033520579338, 0.032437507063150406, 2.8178130833111936e-06, -0.004857899155467749, -0.0037356095854192972, 0.01618613861501217, 0.01695220172405243, -0.0004925530520267785, -0.0004451520217116922, 26.99590492248535, 1.0219091176986694, 12.629449844360352, -2.255453586578369, -0.45733973383903503, 1.533840298652649, -1.0233073234558105, 0.360733300447464, 1.2259052991867065, 0.35000118613243103, 0.14069347083568573, 0.12107201665639877, 0.7709992527961731, -0.10271964967250824, 0.39187753200531006, 0.09625143557786942, -0.031759388744831085, -0.07790224254131317, -0.00013299917918629944, 0.0004461243806872517, 0.004054109565913677, -0.01414508931338787, 0.00012511057138908654, -0.0013298821868374944, 0.0006164118531160057, -0.023814307525753975, -0.004781363066285849, -0.015396527014672756, 0.0029746198561042547, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.113439917564392, 0.8441383838653564, 0.4760952591896057, 0.876322865486145, 0.21371513605117798, 0.3389439582824707, 0.1716611236333847, 0.042977482080459595, 0.035405367612838745, 0.07612504810094833, 0.06302674859762192, 0.013913804665207863, 0.05648784339427948, 0.04899908974766731, 0.00592421879991889, 0.0046521699987351894, 0.057445403188467026, 0.06175582483410835, 0.012782561592757702, 0.0034969195257872343, 0.04800553247332573, 0.08918195962905884, 0.000209684410947375, 0.008126488886773586, 0.0137324882671237, 0.036879099905490875, 0.07082751393318176, 0.006701922044157982, 0.005415500607341528, 4.220666885375977, 2.1006205081939697, 1.7173027992248535, 1.655984878540039, 0.2863958179950714, 0.7499741911888123, 0.45892709493637085, 0.747834324836731, 1.483374834060669, 0.45814740657806396, 0.37649720907211304, 0.15662725269794464, 0.8761604428291321, 0.33399248123168945, 0.44278407096862793, 0.10038159042596817, 0.1474374383687973, 0.15087513625621796, 0.027461091056466103, 0.00857284851372242, 0.07943486422300339, 0.06895339488983154, 0.025501428171992302, 0.009400983341038227, 0.019640114158391953, 0.13018400967121124, 0.1013878881931305, 0.04080994054675102, 0.006170093081891537, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2946]}, "observation.state.tcp": {"min": [0.3493611514568329, 0.1663348376750946, 0.9471774697303772, -1.3223438262939453, 1.2210614681243896, -1.6216437816619873, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.22923704981803894, -0.26309871673583984, 0.9359049797058105, -0.6205160021781921, 1.175909399986267, 0.494599312543869, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4188457131385803, 0.23533512651920319, 1.0622508525848389, -1.0296751260757446, 1.7367678880691528, -1.2029677629470825, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4544035494327545, -0.01998411864042282, 1.1274081468582153, 1.2085944414138794, 2.0000975131988525, 1.429260015487671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.38944336771965027, 0.19772444665431976, 0.9971889853477478, -1.21657133102417, 1.5722160339355469, -1.5529581308364868, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39103278517723083, -0.1527477353811264, 1.039103627204895, -0.1976936161518097, 1.6939893960952759, 0.75296550989151, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.020723562687635422, 0.014416705816984177, 0.028619714081287384, 0.05757250264286995, 0.09141896665096283, 0.06573234498500824, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05614214763045311, 0.05361523479223251, 0.045577455312013626, 0.25750866532325745, 0.14977100491523743, 0.13986150920391083, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2946]}, "action": {"min": [0.9937694072723389, -0.8076702952384949, -0.20880712568759918, 1.1842378377914429, -0.04289137199521065, -0.7657338976860046, 0.381256639957428, 0.0, 0.0, -0.2608681917190552, 0.0, 0.0, 0.0, -0.1261221319437027, 0.0, 0.0, 0.0, -0.152282252907753, 0.0, 0.0, 0.0, -0.15403814613819122, 0.0, 0.0, 0.0, 0.0, -0.06764949858188629, 0.0, 0.0, 0.9295961856842041, -1.1555200815200806, -0.2420787811279297, 0.996364176273346, -1.594285488128662, -0.7699999809265137, -0.2681710720062256, 0.0, 0.0, -0.20868369936943054, -0.20157867670059204, 0.0, 0.0, -0.07614133507013321, 0.0, 0.0, 0.0, -0.07907067239284515, 0.0, 0.0, 0.0, -0.1350916624069214, 0.0, 0.0, 0.0, 0.0, -0.15570300817489624, 0.0, 0.0, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.001160445623099804, -1.2415975106705446e-05, -0.002961470279842615, -0.7972688674926758], "max": [1.2406710386276245, -0.6259444952011108, -0.00398546876385808, 1.567112922668457, 0.1979779452085495, 0.0061077880673110485, 0.685404360294342, 1.328115701675415, 0.29486438632011414, 0.0, 0.2793125510215759, 0.6316919922828674, 0.5291986465454102, 0.05978374183177948, 0.045620109885931015, 0.046892616897821426, 0.2586517930030823, 0.14870625734329224, 0.04823142662644386, 0.03455326333642006, 0.025790279731154442, 0.18149131536483765, 0.00591794541105628, 0.005849439185112715, 0.26180002093315125, 0.14020539820194244, 0.24756895005702972, 0.03488479554653168, 0.027609307318925858, 1.3699907064437866, -0.23541873693466187, 3.6741109569616895e-17, 1.8320337533950806, 0.10382506996393204, -0.08702598512172699, 0.9718265533447266, 1.369835376739502, 0.2935819625854492, 0.19811227917671204, 0.22161699831485748, 0.4733092486858368, 1.1052871942520142, 0.13689741492271423, 0.7014661431312561, 0.5282992720603943, 1.4157581329345703, 0.2819918096065521, 1.567684292793274, 1.4676402807235718, 1.484627366065979, 0.2925682067871094, 1.6513108015060425, 1.4553704261779785, 0.2481648176908493, 1.458899974822998, 0.2969624698162079, 1.5113662481307983, 1.5327389240264893, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -1.8341881900118095e-21, 1.2770482499036007e-05, 0.14658978581428528, -0.6000000238418579], "mean": [1.132795810699463, -0.6798070669174194, -0.2064584344625473, 1.2686834335327148, 0.08279819041490555, -0.13774968683719635, 0.46553730964660645, 1.2312949895858765, 0.2871027886867523, -0.1263408660888672, 0.1707017868757248, 0.46852853894233704, 0.48775550723075867, 0.04313795641064644, 0.04313962534070015, 0.04462091624736786, 0.18546226620674133, 0.12966106832027435, 0.03965378180146217, 0.028195872902870178, 0.003672640537843108, 0.13950620591640472, 0.0009248157730326056, 0.0009153320570476353, 0.2235669642686844, 0.060900479555130005, 0.21631385385990143, 0.016421202570199966, 0.01563582941889763, 1.2164306640625, -0.629733145236969, -0.2196453958749771, 1.301605463027954, -1.3173080682754517, -0.3894335627555847, 0.05261167138814926, 1.263877272605896, 0.14111031591892242, -0.04951943829655647, -0.12332681566476822, 0.21161559224128723, 0.801893949508667, 0.08739255368709564, 0.20108343660831451, 0.2357100248336792, 1.1824699640274048, -0.010644963942468166, 1.2793766260147095, 0.5402026772499084, 1.2978711128234863, -0.06151343509554863, 1.4063429832458496, 0.6713144779205322, 0.04065055400133133, 1.2245970964431763, -0.08066578209400177, 1.0591591596603394, 1.3569520711898804, 0.5627059936523438, -1.1068751811981201, 0.5440992712974548, -0.0007556583732366562, 5.983833943901118e-07, 0.103739894926548, -0.7275848984718323], "std": [0.061627618968486786, 0.03234163299202919, 0.014073576778173447, 0.06038210541009903, 0.05189860612154007, 0.10931522399187088, 0.05116310343146324, 0.12847007811069489, 0.031068740412592888, 0.052999962121248245, 0.026240462437272072, 0.08322693407535553, 0.056893058121204376, 0.014422270469367504, 0.004545819014310837, 0.004655876662582159, 0.03446602821350098, 0.028736824169754982, 0.006503113079816103, 0.004509095102548599, 0.006631083320826292, 0.034110575914382935, 0.0016101752407848835, 0.0015931905945762992, 0.051917798817157745, 0.03650403022766113, 0.039304811507463455, 0.0075229983776807785, 0.006839829962700605, 0.10604759305715561, 0.16594482958316803, 0.02160191908478737, 0.1828586310148239, 0.2653186321258545, 0.12664802372455597, 0.17034469544887543, 0.13218674063682556, 0.046165067702531815, 0.05807378515601158, 0.06420692056417465, 0.10858941078186035, 0.2012254148721695, 0.026033269241452217, 0.15249529480934143, 0.13737896084785461, 0.2189297080039978, 0.04846097156405449, 0.27110883593559265, 0.46345680952072144, 0.24323990941047668, 0.0663621723651886, 0.28228461742401123, 0.4249030351638794, 0.024449562653899193, 0.2335880994796753, 0.0687294751405716, 0.26522254943847656, 0.267618864774704, 2.3209893697639927e-05, 1.2904431969218422e-05, 3.131658741040155e-05, 0.00019695119408424944, 6.210162609932013e-06, 0.022358538582921028, 0.03700730949640274], "count": [2946]}, "observation.state.tcp_pose": {"min": [0.3493611514568329, 0.1663348376750946, 0.9471774697303772, -1.3223438262939453, 1.2210614681243896, -1.6216437816619873, 0.22923704981803894, -0.26309871673583984, 0.9359049797058105, -0.6205160021781921, 1.175909399986267, 0.494599312543869], "max": [0.4188457131385803, 0.23533512651920319, 1.0622508525848389, -1.0296751260757446, 1.7367678880691528, -1.2029677629470825, 0.4544035494327545, -0.01998411864042282, 1.1274081468582153, 1.2085944414138794, 2.0000975131988525, 1.429260015487671], "mean": [0.38944336771965027, 0.19772444665431976, 0.9971889853477478, -1.21657133102417, 1.5722160339355469, -1.5529581308364868, 0.39103278517723083, -0.1527477353811264, 1.039103627204895, -0.1976936161518097, 1.6939893960952759, 0.75296550989151], "std": [0.020723562687635422, 0.014416705816984177, 0.028619714081287384, 0.05757250264286995, 0.09141896665096283, 0.06573234498500824, 0.05614214763045311, 0.05361523479223251, 0.045577455312013626, 0.25750866532325745, 0.14977100491523743, 0.13986150920391083], "count": [2946]}, "action.tcp_pose": {"min": [0.3496280610561371, 0.16632357239723206, 0.9472367763519287, -1.3224010467529297, 1.221697449684143, -1.621717095375061, 0.22926943004131317, -0.2648698687553406, 0.9359761476516724, -0.6205667853355408, 1.1269625425338745, 0.49401503801345825], "max": [0.41886359453201294, 0.23535983264446259, 1.0623316764831543, -1.0286973714828491, 1.736777663230896, -1.2041200399398804, 0.45440518856048584, -0.019947417080402374, 1.127231478691101, 1.2088515758514404, 2.001335859298706, 1.5045206546783447], "mean": [0.38946354389190674, 0.1977291703224182, 0.9971954226493835, -1.216549038887024, 1.572128176689148, -1.5529602766036987, 0.39103856682777405, -0.15290567278862, 1.0396186113357544, -0.19936639070510864, 1.6907511949539185, 0.7543913125991821], "std": [0.020723335444927216, 0.014419564977288246, 0.02865317463874817, 0.05762239918112755, 0.09154634922742844, 0.06561058014631271, 0.05612391233444214, 0.05372500792145729, 0.04550760239362717, 0.2503013014793396, 0.15595808625221252, 0.14588512480258942], "count": [2946]}, "subtask_index": {"min": [54], "max": [785], "mean": [744.8136456211813], "std": [93.17288001750086], "count": [2946]}, "observation.tactile": {"min": [-0.012983757071197033, -3.724486305145547e-05, -8.20981222204864e-05, -0.0017490022582933307, -5.735249214922078e-05, -0.0003147102252114564, -0.008061293512582779, -4.532635648502037e-05, -0.00010519265924813226, -0.0007037491886876523, -2.74937574431533e-05, -0.00016123797104228288, -0.035939790308475494, -4.286013063392602e-05, -9.475562546867877e-05, -0.0025519556365907192, -0.00017054965428542346, -0.000712397217284888, -0.01874367892742157, -3.2881413062568754e-05, -7.443387585226446e-05, -0.0013446130324155092, -5.609500476566609e-06, -0.0003880435833707452, -0.015389082953333855, -4.615812576957978e-05, -0.00010398095764685422, -0.0011077162344008684, -4.716090552392416e-05, -0.00032313656993210316, -5.784553527832031, -4.107415588805452e-05, -9.303354454459623e-05, -0.33219113945961, -0.018412502482533455, -0.07642301917076111, -4.7551469802856445, -0.9128352403640747, -0.00010393914999440312, -0.22649654746055603, -0.0346716046333313, -0.08525286614894867, -0.011410292237997055, -4.575440470944159e-05, -0.00010104386456077918, -0.0011526214657351375, -6.0045247664675117e-05, -0.00026302289916202426, -0.014643262140452862, -5.442500696517527e-05, -0.00012235649046488106, -0.002750469371676445, -0.0001415758451912552, -0.0003063290205318481, -0.23160549998283386, -4.3958651076536626e-05, -9.891782246995717e-05, -0.002384275197982788, -0.0004216468951199204, -0.0034233557526022196], "max": [0.012540734373033047, 0.02578604966402054, 0.07325353473424911, 1.5506336694670608e-06, 0.0003361270355526358, 0.0001543811958981678, 0.00033204766805283725, 0.012142716906964779, 0.035680968314409256, 1.8308772951058927e-06, 3.492792893666774e-05, 6.592752924916567e-06, 0.012656155042350292, 0.045932285487651825, 0.12873882055282593, 1.770919880073052e-06, 0.00023825494281481951, 0.00014889219892211258, 0.016168659552931786, 0.023225776851177216, 0.06894561648368835, 1.3751808864981285e-06, 0.00030172785045579076, 0.0002443662961013615, 0.024401145055890083, 0.02039968967437744, 0.06316467374563217, 1.9443548353592632e-06, 0.00033015201915986836, 0.0003126898081973195, 10.640936851501465, 12.96337604522705, 17.850576400756836, 1.707938054096303e-06, 0.06970323622226715, 0.16774310171604156, 2.103081226348877, 16.80001449584961, 15.690237045288086, 1.9599863207986346e-06, 0.005310523323714733, 0.0816446840763092, 0.030612383037805557, 0.01978294365108013, 0.05934659391641617, 1.8819507658918155e-06, 0.00029761515907011926, 0.0004349809605628252, 0.09149439632892609, 0.04788089543581009, 0.14173860847949982, 2.239967898276518e-06, 0.0009527466609142721, 0.001462677726522088, 0.003966540563851595, 0.06037788838148117, 0.14099600911140442, 1.8479684058547718e-06, 0.0001955603074748069, 6.014196333126165e-05], "mean": [-0.0013129760045558214, 0.0027106101624667645, 0.008180081844329834, -0.00015100925520528108, 3.034645033039851e-06, -2.323968874407001e-05, 0.00017757652676664293, 0.00013893313007429242, 0.0004384949861560017, -7.901404387666844e-06, -9.507987783763383e-07, 3.4687645893427543e-06, -0.00012601738853845745, 0.0010066262912005186, 0.0029535675421357155, -5.287560270517133e-05, 1.8860097270589904e-06, -2.8780345928680617e-06, -0.0005372181185521185, 0.0010818532900884748, 0.0031994679011404514, -5.961550050415099e-05, 6.765358648408437e-06, -1.2074313417542726e-05, -5.0840444600908086e-06, 0.0009678069618530571, 0.0028344716411083937, -4.6756653318880126e-05, 6.513905191241065e-06, -1.3915256431573653e-06, 2.1600139141082764, 3.362565517425537, 6.483877658843994, -0.10889870673418045, 0.012023165822029114, 0.03106323443353176, -1.4965530633926392, 0.9392646551132202, 4.377302169799805, -0.06844203919172287, -0.0048652756959199905, -0.022691497579216957, 0.00017316409503109753, 0.0005732639692723751, 0.0017447847640141845, -3.128479147562757e-05, 3.5936241147283e-06, 2.007594503083965e-06, -0.0004317260754760355, 0.002728973748162389, 0.008223685435950756, -0.0001258361735381186, 1.273286125069717e-05, -1.146874637925066e-05, -0.0013128528371453285, 0.0031186442356556654, 0.008998190052807331, -0.00018376258958596736, -1.6003600649128202e-06, -2.480995317455381e-05], "std": [0.001908683218061924, 0.003787477035075426, 0.011005940847098827, 0.00024167075753211975, 2.572731136751827e-05, 3.8294274418149143e-05, 0.0005212167161516845, 0.0007120433147065341, 0.0021047196350991726, 4.0117334719980136e-05, 2.7686398880177876e-06, 1.0846515579032712e-05, 0.002378883073106408, 0.0038360261823982, 0.010926746763288975, 0.00021366549481172115, 1.5410232663271017e-05, 4.552242171484977e-05, 0.0025056679733097553, 0.0029122449923306704, 0.00857634749263525, 0.00016297858383040875, 2.3379070626106113e-05, 5.000549936085008e-05, 0.0014464372070506215, 0.0022789754439145327, 0.0066630057990550995, 0.000113619928015396, 2.907482485170476e-05, 2.4104008844005875e-05, 2.7904067039489746, 3.4972405433654785, 6.642845153808594, 0.11380837857723236, 0.020791254937648773, 0.04396657273173332, 1.6618382930755615, 1.4686329364776611, 4.578230857849121, 0.07167965173721313, 0.007537625264376402, 0.026919037103652954, 0.0012528999941423535, 0.0019044248620048165, 0.005748830735683441, 0.00010675131488824263, 2.3259866793523543e-05, 2.1198344256845303e-05, 0.002420012140646577, 0.003583585610613227, 0.010727904736995697, 0.00017563378787599504, 4.50957304565236e-05, 4.0072303818305954e-05, 0.008362200111150742, 0.004285234492272139, 0.012155089527368546, 0.0002530245401430875, 2.407243118796032e-05, 0.0001308442442677915], "count": [2946]}, "timestamp": {"min": [0.0], "max": [98.16666666666667], "mean": [49.083333333333336], "std": [28.347896584063175], "count": [2946]}, "frame_index": {"min": [0], "max": [2945], "mean": [1472.5], "std": [850.4368975218953], "count": [2946]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [2946]}, "index": {"min": [33819], "max": [36764], "mean": [35291.5], "std": [850.4368975218953], "count": [2946]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2946]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5635662078857422]], [[0.5635642409324646]], [[0.5645346641540527]]], "std": [[[0.3040008246898651]], [[0.3038962781429291]], [[0.30459752678871155]]], "count": [2946]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3004828095436096]], [[0.3051507771015167]], [[0.3040142357349396]]], "std": [[[0.18096566200256348]], [[0.18203093111515045]], [[0.1832510530948639]]], "count": [2946]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31018590927124023]], [[0.31453683972358704]], [[0.3125770688056946]]], "std": [[[0.18517620861530304]], [[0.1851968616247177]], [[0.18552815914154053]]], "count": [2946]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5691331028938293]], [[0.5692798495292664]], [[0.5699489712715149]]], "std": [[[0.3091149628162384]], [[0.30878472328186035]], [[0.3096421957015991]]], "count": [2946]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6235294342041016]], [[0.6235294342041016]], [[0.6235294342041016]]], "mean": [[[0.0035890862345695496]], [[0.0035890862345695496]], [[0.0035890862345695496]]], "std": [[[0.03753995522856712]], [[0.03753995522856712]], [[0.03753995522856712]]], "count": [2946]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4920826852321625]], [[0.4920826852321625]], [[0.4920826852321625]]], "std": [[[0.22251608967781067]], [[0.22251608967781067]], [[0.22251608967781067]]], "count": [2946]}}}
+{"episode_index": 14, "stats": {"observation.state": {"min": [1.0504523515701294, -0.8155951499938965, -0.2249223291873932, 1.175379991531372, -0.11444215476512909, -0.7666618824005127, 0.27034062147140503, 0.006913244258612394, -0.0002309053234057501, -0.23017853498458862, 0.003953426610678434, 0.0035339281894266605, 0.003701545996591449, -0.025374071672558784, 0.0034708159510046244, 0.0008487114100717008, 0.0003130207769572735, -0.005506076849997044, 0.0029896742198616266, 0.0008562495931982994, -0.003400298999622464, -0.00525266770273447, 0.006758322939276695, 0.0008380693034268916, 0.005417033564299345, -0.0009832180803641677, -0.0038649251218885183, 0.005704562179744244, 0.000846050854306668, 0.9816433191299438, -1.1209570169448853, -0.24218104779720306, 1.0595072507858276, -1.656798243522644, -0.7699968814849854, -0.23996001482009888, 0.005584545899182558, -7.37162190489471e-05, -0.19136890769004822, -0.2716045677661896, 0.0032424775417894125, 0.005370908882468939, -0.038923755288124084, 0.003536410164088011, 0.0008318613399751484, -0.0034589304123073816, -0.06140458583831787, 0.003419049782678485, 0.0013032198185101151, -0.001897996524348855, -0.10216354578733444, 0.0035722211468964815, 0.0008784207748249173, 0.006448849104344845, -0.0015719790244475007, -0.12298215180635452, 0.005877588409930468, 0.001415849314071238, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0012463594321161509, -9.58738019107841e-05, -9.58738019107841e-05, -0.7806044816970825], "max": [1.2576854228973389, -0.6187118291854858, -0.003008999163284898, 1.567940354347229, 0.16020750999450684, -0.05156883969902992, 0.5749220848083496, 1.312859058380127, 0.2979687452316284, 0.00041877198964357376, 0.25418129563331604, 0.4847516417503357, 0.4079837501049042, 0.07874511182308197, 0.03382068872451782, 0.0361163504421711, 0.46686333417892456, 0.18918877840042114, 0.05726012960076332, 0.045444637537002563, 0.22220903635025024, 0.20240825414657593, 0.030132172629237175, 0.027002235874533653, 0.24878430366516113, 0.35615378618240356, 0.23859454691410065, 0.0848727747797966, 0.050065550953149796, 1.406607747077942, -0.2999309301376343, -8.029430318856612e-06, 1.7384071350097656, 0.15307487547397614, -0.012601412832736969, 0.6981629133224487, 1.4075933694839478, 0.2921622693538666, 0.20531359314918518, 0.20324036478996277, 0.4013669192790985, 1.0795269012451172, 0.1485002040863037, 0.42816197872161865, 0.7573844790458679, 1.3782405853271484, 0.2627952992916107, 1.513624906539917, 0.9702061414718628, 1.4306402206420898, 0.2614409029483795, 1.5568242073059082, 1.095842957496643, 0.14855580031871796, 1.3398905992507935, 0.25173577666282654, 1.4787245988845825, 1.3081719875335693, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.15867114067077637, -0.5999782085418701], "mean": [1.1301270723342896, -0.6892885565757751, -0.2229311317205429, 1.2636559009552002, 0.02574927918612957, -0.1626647710800171, 0.39978158473968506, 1.2555299997329712, 0.2875266969203949, -0.11433079093694687, 0.10878964513540268, 0.44069722294807434, 0.3325754702091217, 0.05114775896072388, 0.028993377462029457, 0.028578856959939003, 0.27851593494415283, 0.13555565476417542, 0.041345298290252686, 0.03149881958961487, 0.09979284554719925, 0.13681456446647644, 0.01794062927365303, 0.014141330495476723, 0.1555512398481369, 0.19182169437408447, 0.19169501960277557, 0.03275051340460777, 0.02839795872569084, 1.2359575033187866, -0.6252564191818237, -0.21781381964683533, 1.3005435466766357, -1.296447992324829, -0.32912376523017883, 0.04117323085665703, 1.2781494855880737, 0.131393164396286, -0.0031110479030758142, -0.11851320415735245, 0.19845066964626312, 0.7910085916519165, 0.10473839938640594, 0.18410152196884155, 0.283229261636734, 1.099769949913025, 0.006127703003585339, 1.3224362134933472, 0.7144541144371033, 1.2870501279830933, -0.04684584215283394, 1.4108325242996216, 0.8604490160942078, 0.05766105279326439, 1.1822829246520996, -0.06549855321645737, 1.010066270828247, 1.2541594505310059, 0.5627042055130005, -1.1068662405014038, 0.5440167188644409, -0.0008566696778871119, -1.0202958122818018e-07, 0.11385384947061539, -0.7327427268028259], "std": [0.05426226556301117, 0.0395643524825573, 0.017028387635946274, 0.0654897540807724, 0.0828053280711174, 0.09392388164997101, 0.0568135529756546, 0.11701913177967072, 0.028936011716723442, 0.0256586242467165, 0.025085514411330223, 0.055431265383958817, 0.06362372636795044, 0.015589297749102116, 0.005937468260526657, 0.004634928423911333, 0.13433155417442322, 0.036335770040750504, 0.012872608378529549, 0.011493952944874763, 0.09340333193540573, 0.041736818850040436, 0.010271785780787468, 0.011651329696178436, 0.08216655999422073, 0.15544824302196503, 0.03993668407201767, 0.02503281459212303, 0.019915208220481873, 0.11223091185092926, 0.15335357189178467, 0.02351902611553669, 0.17149975895881653, 0.2859433591365814, 0.13662907481193542, 0.18777650594711304, 0.13994058966636658, 0.04727306216955185, 0.0720166340470314, 0.0790904313325882, 0.12104710191488266, 0.17465940117835999, 0.027783405035734177, 0.10772369801998138, 0.14857754111289978, 0.19799841940402985, 0.03371161222457886, 0.2796943485736847, 0.18536318838596344, 0.23525221645832062, 0.044740475714206696, 0.2929075062274933, 0.20490945875644684, 0.015440781600773335, 0.21547751128673553, 0.047131773084402084, 0.2688637375831604, 0.24987535178661346, 3.045315679628402e-05, 3.754425415536389e-05, 6.108358502388e-05, 0.00021098692377563566, 4.77618459626683e-06, 0.02545905113220215, 0.025900572538375854], "count": [2819]}, "observation.state.joint_torque": {"min": [-30.014999389648438, -7.563000202178955, -16.83099937438965, -9.276000022888184, -0.2720000147819519, -1.114400029182434, 1.267199993133545, -1.2455099821090698, -0.3451259434223175, -0.41630101203918457, -0.45979514718055725, -0.1942499577999115, -0.43655624985694885, -0.46534016728401184, -0.11621791869401932, -0.038529157638549805, -0.5756785273551941, -0.3012717664241791, -0.12949997186660767, -0.03139413148164749, -0.713841438293457, -0.506597101688385, -0.07305127382278442, -0.03139413148164749, -0.11830649524927139, -0.42504265904426575, -0.5919894576072693, -0.10957689583301544, -0.033534638583660126, 13.107000350952148, -4.33050012588501, 1.7269999980926514, -8.032999992370605, -2.02239990234375, -3.045599937438965, -3.180799961090088, -1.565165400505066, -0.7169960141181946, -0.5592103004455566, -0.8810669183731079, -0.167685866355896, -0.7992336750030518, -1.070762038230896, -0.10957689583301544, -0.06635577231645584, -1.2578576803207397, -1.2703306674957275, -0.4233653247356415, -0.05279921740293503, -1.121613621711731, -0.33293411135673523, -0.4001217484474182, -0.04709119349718094, -0.15524978935718536, -1.2242764234542847, -0.4922051727771759, -0.12451920658349991, -0.038529157638549805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.811500549316406, 16.021499633789062, -11.418999671936035, 5.765999794006348, 1.7999999523162842, 1.806399941444397, 2.620800018310547, 0.31328776478767395, 0.22286732494831085, 0.3355261981487274, 0.621344804763794, 0.09629485011100769, 0.3214205205440521, 0.2772851586341858, 0.09131408482789993, 0.020691584795713425, 0.3837856948375702, 0.27056893706321716, 0.10957689583301544, 0.012843053787946701, 0.3482855260372162, 0.3761099874973297, 0.12119869887828827, 0.01712406985461712, 0.08488161116838455, 0.24562285840511322, 0.4144885540008545, 0.11123716086149216, 0.020691584795713425, 41.70000076293945, 9.15149974822998, 22.413000106811523, 1.9900000095367432, 0.7832000255584717, 3.748800039291382, 1.2799999713897705, 2.433711051940918, 4.527390480041504, 2.248025417327881, 1.232748031616211, 0.6308973431587219, 2.145362138748169, 0.8903827667236328, 1.064224123954773, 0.21405088901519775, 0.7416658401489258, 0.34444767236709595, 0.19923073053359985, 0.03638865053653717, 0.5670433640480042, 0.34252867102622986, 0.24571789801120758, 0.04423718526959419, 0.134579136967659, 0.47205638885498047, 0.400096595287323, 0.16270509362220764, 0.06706927716732025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.07221031188965, 2.1962974071502686, -13.354536056518555, -2.3367583751678467, 0.20590513944625854, -0.14177285134792328, 1.6782475709915161, -0.0016186764696612954, -0.0038503967225551605, 0.02028908208012581, -0.0042262026108801365, 0.0038800365291535854, 0.029912658035755157, 0.02025473304092884, 0.0009170005796477199, 0.00024272732844110578, 0.016385147348046303, -0.0002876052458304912, 0.001377561711706221, 0.00011693459964590147, 0.018834998831152916, 0.020024213939905167, 0.0003027220955118537, -0.0011658010771498084, -0.0010952120646834373, 0.005336082074791193, 0.006592733319848776, -0.0018440106650814414, -0.0007253990625031292, 27.148405075073242, 0.9559244513511658, 12.722521781921387, -2.1217591762542725, -0.5216421484947205, 1.460918664932251, -1.0097553730010986, 0.3812664747238159, 1.2185858488082886, 0.3999274969100952, 0.13977809250354767, 0.1259039044380188, 0.8883422613143921, -0.09740384668111801, 0.45993730425834656, 0.10752404481172562, -0.07477184385061264, -0.12242165952920914, 0.0007456172024831176, -0.0007289433851838112, -0.002278682077303529, -0.007360205519944429, 0.001553066773340106, -0.0010787327773869038, 0.001043881755322218, -0.019705606624484062, -0.005614177323877811, -0.013636576943099499, 0.003316673683002591, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6247350573539734, 0.928412139415741, 0.6306756734848022, 0.6847818493843079, 0.20017790794372559, 0.3551926016807556, 0.1704719364643097, 0.04480462521314621, 0.025444604456424713, 0.06738690286874771, 0.06706869602203369, 0.01203708816319704, 0.06849969178438187, 0.06048332899808884, 0.00698838708922267, 0.0040237135253846645, 0.06430285423994064, 0.04780849441885948, 0.015376847237348557, 0.0036644625943154097, 0.06099729612469673, 0.07110828906297684, 0.006488128565251827, 0.005961465649306774, 0.008729894645512104, 0.02712739072740078, 0.0567360483109951, 0.009982949122786522, 0.004559176508337259, 3.970787286758423, 2.0221407413482666, 1.7871628999710083, 1.7294367551803589, 0.3123539090156555, 0.728613555431366, 0.5154767036437988, 0.7990042567253113, 1.2990970611572266, 0.5226659774780273, 0.3040461540222168, 0.14746680855751038, 0.8607106804847717, 0.3178456127643585, 0.4544512629508972, 0.09958095103502274, 0.21136228740215302, 0.20320791006088257, 0.02682737074792385, 0.009093498811125755, 0.06828032433986664, 0.06365004926919937, 0.02557462640106678, 0.009660385549068451, 0.02308184839785099, 0.13117042183876038, 0.10701248794794083, 0.035886555910110474, 0.004683573730289936, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2819]}, "observation.state.tcp": {"min": [0.35378801822662354, 0.18817652761936188, 0.9475551247596741, -1.3325259685516357, 1.2212355136871338, -1.5085281133651733, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24703344702720642, -0.256222665309906, 0.9415727257728577, -0.6718201041221619, 1.169743537902832, 0.3689366281032562, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.39943036437034607, 0.23304757475852966, 1.0599838495254517, -1.0278007984161377, 1.7864242792129517, -1.2063878774642944, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4587654173374176, -0.04204912856221199, 1.1180963516235352, 1.2089594602584839, 1.9913629293441772, 1.4678460359573364, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.38584932684898376, 0.2048289030790329, 0.9854544401168823, -1.1928519010543823, 1.665299415588379, -1.4504674673080444, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3954026699066162, -0.15169218182563782, 1.0456628799438477, -0.19932633638381958, 1.7311173677444458, 0.7469813823699951, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008998136967420578, 0.008930183947086334, 0.026546262204647064, 0.08641505986452103, 0.089706189930439, 0.036874961107969284, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05544782429933548, 0.05420583859086037, 0.046642933040857315, 0.27611875534057617, 0.1415782868862152, 0.17243021726608276, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2819]}, "action": {"min": [1.0500739812850952, -0.815644383430481, -0.22491994500160217, 1.1753833293914795, -0.11443541198968887, -0.7682353854179382, 0.2702789306640625, 0.0, 0.0, -0.23065945506095886, 0.0, 0.0, 0.0, -0.02465173974633217, 0.0, 0.0, 0.0, -0.005471091251820326, 0.0, 0.0, 0.0, -0.015278411097824574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9816536903381348, -1.1210678815841675, -0.24217718839645386, 1.0593234300613403, -1.6567951440811157, -0.7699999809265137, -0.23997141420841217, 0.0, 0.0, -0.1959153413772583, -0.27048593759536743, 0.0, 0.0, -0.03784668445587158, 0.0, 0.0, 0.0, -0.06440535932779312, 0.0, 0.0, 0.0, -0.10338364541530609, 0.0, 0.0, 0.0, 0.0, -0.12206093221902847, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440183281898499, -0.0013563453685492277, -1.2643038644455373e-05, -2.435570447935836e-18, -0.7806023359298706], "max": [1.2576757669448853, -0.6187058687210083, -0.0008043752750381827, 1.5692051649093628, 0.16020508110523224, -0.05149788782000542, 0.5749651193618774, 1.3272652626037598, 0.2939952611923218, 0.0, 0.2603432238101959, 0.49167272448539734, 0.4158206880092621, 0.0816316083073616, 0.03833305090665817, 0.037584125995635986, 0.4780123829841614, 0.1891043782234192, 0.06219315901398659, 0.0483873188495636, 0.23041698336601257, 0.20246560871601105, 0.035571008920669556, 0.03120024874806404, 0.26180002093315125, 0.36542221903800964, 0.24616527557373047, 0.08988838642835617, 0.05114993453025818, 1.406609296798706, -0.29990825057029724, 1.938374846478995e-17, 1.738951325416565, 0.1538480818271637, -0.012579096481204033, 0.907075047492981, 1.409668207168579, 0.29314374923706055, 0.20893561840057373, 0.22899509966373444, 0.4071424603462219, 1.1089063882827759, 0.1497044563293457, 0.464047372341156, 0.7837815284729004, 1.3939073085784912, 0.26571139693260193, 1.5175151824951172, 0.9715524315834045, 1.445603609085083, 0.2630341351032257, 1.5608779191970825, 1.0971916913986206, 0.15958300232887268, 1.3468278646469116, 0.2540959119796753, 1.481736183166504, 1.4401534795761108, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 3.398973671155328e-20, 1.3758606655756012e-05, 0.15937820076942444, -0.5998468995094299], "mean": [1.130202054977417, -0.6892839670181274, -0.2229471355676651, 1.2636816501617432, 0.025750337168574333, -0.16271385550498962, 0.3998391628265381, 1.2629998922348022, 0.28935495018959045, -0.11427509784698486, 0.10913615673780441, 0.4469689130783081, 0.33877792954444885, 0.051578182727098465, 0.03298046067357063, 0.032428354024887085, 0.2826184630393982, 0.13787677884101868, 0.04563901200890541, 0.034892987459897995, 0.10189289599657059, 0.1409795880317688, 0.017047608271241188, 0.015071501024067402, 0.15833118557929993, 0.1935834288597107, 0.19581234455108643, 0.03371516987681389, 0.02998022735118866, 1.236623764038086, -0.6258456110954285, -0.2178046554327011, 1.3009278774261475, -1.2961193323135376, -0.32953783869743347, 0.0442831851541996, 1.2785401344299316, 0.13499268889427185, -0.0026679914444684982, -0.11839577555656433, 0.19928154349327087, 0.80339515209198, 0.09688971936702728, 0.20245805382728577, 0.3203331232070923, 1.0974615812301636, 0.006159636657685041, 1.3210639953613281, 0.7141725420951843, 1.2858078479766846, -0.046511679887771606, 1.409993290901184, 0.8601395487785339, 0.061844728887081146, 1.1800650358200073, -0.06575175374746323, 1.0080384016036987, 1.3274034261703491, 0.5627048015594482, -1.10687255859375, 0.5440752506256104, -0.0009051482193171978, -8.820412844556813e-09, 0.1138925775885582, -0.7327925562858582], "std": [0.05432221293449402, 0.039507295936346054, 0.016979271546006203, 0.06549864262342453, 0.08280640095472336, 0.0939798429608345, 0.05684930458664894, 0.1290331482887268, 0.02954164333641529, 0.026370374485850334, 0.026601681485772133, 0.05523519217967987, 0.06409739702939987, 0.015325243584811687, 0.005335463210940361, 0.005047567654401064, 0.1341933012008667, 0.03586529940366745, 0.013656648807227612, 0.011414121836423874, 0.09484126418828964, 0.04143660515546799, 0.015672974288463593, 0.013843534514307976, 0.09210048615932465, 0.15625140070915222, 0.04058095067739487, 0.02320382371544838, 0.019823256880044937, 0.11218032985925674, 0.15387414395809174, 0.023583319038152695, 0.1717137098312378, 0.28635379672050476, 0.13674338161945343, 0.19948123395442963, 0.1503949910402298, 0.05063125863671303, 0.07286717742681503, 0.07955385744571686, 0.12311208248138428, 0.18226850032806396, 0.027131779119372368, 0.12610505521297455, 0.16163550317287445, 0.19789211452007294, 0.03465772047638893, 0.27986645698547363, 0.18547941744327545, 0.23511868715286255, 0.04481130093336105, 0.2933867275714874, 0.20514006912708282, 0.016898319125175476, 0.2150522619485855, 0.04657445102930069, 0.26883819699287415, 0.2675233483314514, 2.1370977265178226e-05, 9.78336811385816e-06, 2.710797889449168e-05, 0.00020343220967333764, 7.253976946230978e-06, 0.02550475485622883, 0.02600039355456829], "count": [2819]}, "observation.state.tcp_pose": {"min": [0.35378801822662354, 0.18817652761936188, 0.9475551247596741, -1.3325259685516357, 1.2212355136871338, -1.5085281133651733, 0.24703344702720642, -0.256222665309906, 0.9415727257728577, -0.6718201041221619, 1.169743537902832, 0.3689366281032562], "max": [0.39943036437034607, 0.23304757475852966, 1.0599838495254517, -1.0278007984161377, 1.7864242792129517, -1.2063878774642944, 0.4587654173374176, -0.04204912856221199, 1.1180963516235352, 1.2089594602584839, 1.9913629293441772, 1.4678460359573364], "mean": [0.38584932684898376, 0.2048289030790329, 0.9854544401168823, -1.1928519010543823, 1.665299415588379, -1.4504674673080444, 0.3954026699066162, -0.15169218182563782, 1.0456628799438477, -0.19932633638381958, 1.7311173677444458, 0.7469813823699951], "std": [0.008998136967420578, 0.008930183947086334, 0.026546262204647064, 0.08641505986452103, 0.089706189930439, 0.036874961107969284, 0.05544782429933548, 0.05420583859086037, 0.046642933040857315, 0.27611875534057617, 0.1415782868862152, 0.17243021726608276], "count": [2819]}, "action.tcp_pose": {"min": [0.3537910282611847, 0.188177227973938, 0.9474794864654541, -1.3325998783111572, 1.2190184593200684, -1.5085718631744385, 0.24719303846359253, -0.2587699592113495, 0.9416617751121521, -0.6718690395355225, 1.088571310043335, 0.36890214681625366], "max": [0.39944732189178467, 0.23305349051952362, 1.060072660446167, -1.0276130437850952, 1.7862669229507446, -1.207789421081543, 0.45881953835487366, -0.042008716613054276, 1.1175373792648315, 1.2088515758514404, 1.9916661977767944, 1.5248786211013794], "mean": [0.385870099067688, 0.20482370257377625, 0.9854565858840942, -1.1928333044052124, 1.6652127504348755, -1.4505345821380615, 0.39544713497161865, -0.15186859667301178, 1.0462312698364258, -0.20102539658546448, 1.727641224861145, 0.7486026883125305], "std": [0.008987557142972946, 0.008924698457121849, 0.026613660156726837, 0.08639594912528992, 0.08985409140586853, 0.03652092069387436, 0.05547681450843811, 0.054351020604372025, 0.046708256006240845, 0.2683100402355194, 0.15012609958648682, 0.17830999195575714], "count": [2819]}, "subtask_index": {"min": [54], "max": [839], "mean": [799.9499822632139], "std": [110.40667825626542], "count": [2819]}, "observation.tactile": {"min": [-0.017034189775586128, -3.9389036828652024e-05, -8.647610229672864e-05, -0.0010587743017822504, -5.483015047502704e-05, -0.0003485366760287434, -0.004568286240100861, -4.922690277453512e-05, -0.00011426279525039718, -0.0003892684471793473, -7.352590910159051e-05, -6.883672176627442e-05, -0.012305865064263344, -4.839946632273495e-05, -0.0001080452639143914, -0.001936196000315249, -7.080919021973386e-05, -0.00027380994288250804, -0.01119827851653099, -3.522755650919862e-05, -7.711199577897787e-05, -0.0010833322303369641, -1.1013054972863756e-05, -0.00023470332962460816, -0.009011302143335342, -4.620148683898151e-05, -0.00010346168710384518, -0.0013588732108473778, -8.036840154090896e-05, -0.00021420294069685042, -0.4309936463832855, -0.0931338220834732, -8.979029371403158e-05, -0.17488695681095123, -0.001872186898253858, -0.027568956837058067, -5.083825588226318, -1.062679648399353, -0.00010201450641034171, -0.2303909957408905, -0.021791798993945122, -0.0973985493183136, -1.4600069522857666, -4.991328023606911e-05, -0.0001099689252441749, -0.007814211770892143, -0.003261410631239414, -0.021286971867084503, -0.016874242573976517, -5.829656220157631e-05, -0.00013076704635750502, -0.0013284385204315186, -4.758411523653194e-05, -0.000360874313628301, -0.09662486612796783, -4.195696965325624e-05, -9.319336095359176e-05, -0.000988420215435326, -0.0001478313497500494, -0.0014147240435704589], "max": [0.011075609363615513, 0.0195257980376482, 0.05475705489516258, 1.6445173969259486e-06, 0.00029207230545580387, 0.00012810633052140474, 0.00036120787262916565, 0.007111408747732639, 0.021267129108309746, 1.969041250049486e-06, 2.8498576284619048e-05, 7.1225153988052625e-06, 0.001120605506002903, 0.031841009855270386, 0.09337283670902252, 2.0121615307289176e-06, 9.607934771338478e-05, 7.918973096820991e-06, 0.003726224647834897, 0.017672572284936905, 0.05075408145785332, 1.4234825584935606e-06, 0.00019291583157610148, 8.617001185484696e-06, 0.0006744111306034029, 0.022377151995897293, 0.06463394314050674, 1.9300157418911112e-06, 9.376878006150946e-05, 7.466393526556203e-06, 5.068849086761475, 11.117839813232422, 10.546989440917969, 1.6779355291873799e-06, 0.03586077690124512, 0.09780228137969971, 2.266493082046509, 15.814271926879883, 14.470281600952148, 1.932865188791766e-06, 0.01254873163998127, 0.07841408997774124, 0.012400214560329914, 0.22253261506557465, 0.509094774723053, 2.023150045715738e-06, 0.0006624319357797503, 0.0001623844145797193, 0.007594151422381401, 0.02197844535112381, 0.06362935155630112, 2.3975587737368187e-06, 0.00020541979756671935, 2.0141862478340045e-05, 0.0026941390242427588, 0.017726929858326912, 0.05638596788048744, 1.7281895452470053e-06, 8.57909326441586e-05, 5.832657188875601e-05], "mean": [-0.00036947030457668006, 0.0014907658332958817, 0.004473994951695204, -6.386228778865188e-05, 9.03858835954452e-06, -7.058029041218106e-06, 0.00012058418360538781, 0.00023493709159083664, 0.0007267222390510142, -1.3464733456203248e-05, 2.360772022313995e-08, 2.0116660834901268e-06, -0.0005792842712253332, 0.001808165805414319, 0.005350728053599596, -9.195809252560139e-05, -4.663965682993876e-06, -7.500955234718276e-06, 0.00011347884719725698, 0.00024392970954068005, 0.0007373539847321808, -1.4959126929170452e-05, 7.832533697182953e-07, 1.7435922927688807e-06, 0.00016326879267580807, 0.00032630254281684756, 0.0009816571837291121, -1.485164375480963e-05, -7.854787327232771e-07, 4.0178770177590195e-06, 1.6999766826629639, 2.402515172958374, 4.2032151222229, -0.06887895613908768, 0.008451656438410282, 0.025066792964935303, -1.44464910030365, 1.2198214530944824, 5.204358100891113, -0.08331859111785889, -0.003575311042368412, -0.022585952654480934, -0.004045580979436636, 0.0013493519509211183, 0.0037138930056244135, -6.162522186059505e-05, -3.4095969567715656e-06, -5.145032628206536e-05, -0.00032681471202522516, 0.002863866277039051, 0.008538389578461647, -0.00013394688721746206, 2.0392777514643967e-05, -1.4330811609397642e-05, -0.00020664917246904224, 0.001281982404179871, 0.0037851810920983553, -7.319044379983097e-05, 3.513258661769214e-06, -5.206935384194367e-06], "std": [0.0013605394633486867, 0.0026087192818522453, 0.007648176047950983, 0.00011737140448531136, 3.014693174918648e-05, 2.367978959227912e-05, 0.00046368298353627324, 0.0007091660518199205, 0.002109421184286475, 3.8912829040782526e-05, 4.648152753361501e-06, 9.762821719050407e-06, 0.0013953872257843614, 0.0029043925460428, 0.008543563075363636, 0.00015371560584753752, 8.70121039042715e-06, 2.410677552688867e-05, 0.0006629559211432934, 0.0012418834958225489, 0.003638551104813814, 7.741856097709388e-05, 9.61376372288214e-06, 1.5905005056993105e-05, 0.0006151233683340251, 0.001248587155714631, 0.003623404772952199, 6.15901590208523e-05, 8.948150934884325e-06, 1.1392405212973244e-05, 1.70578932762146, 2.3103647232055664, 3.8054981231689453, 0.06090768426656723, 0.009205218404531479, 0.028862204402685165, 1.6364903450012207, 1.8874967098236084, 4.698334217071533, 0.07738891243934631, 0.006975044030696154, 0.0273924358189106, 0.0587117001414299, 0.008536582812666893, 0.020288856700062752, 0.0002891026670113206, 8.62421074998565e-05, 0.000764985743444413, 0.0018317507347092032, 0.003450712887570262, 0.010199381969869137, 0.00019595265621319413, 2.981742363772355e-05, 3.807268149103038e-05, 0.0020268012303858995, 0.0024383494164794683, 0.007032981142401695, 0.00014381905202753842, 1.0318783097318374e-05, 3.3277934562647715e-05], "count": [2819]}, "timestamp": {"min": [0.0], "max": [93.93333333333334], "mean": [46.96666666666666], "std": [27.125838440702825], "count": [2819]}, "frame_index": {"min": [0], "max": [2818], "mean": [1409.0], "std": [813.7751532210848], "count": [2819]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2819]}, "index": {"min": [36765], "max": [39583], "mean": [38174.0], "std": [813.7751532210848], "count": [2819]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2819]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5675095319747925]], [[0.5674482583999634]], [[0.5684216022491455]]], "std": [[[0.3054347634315491]], [[0.305472731590271]], [[0.3060266077518463]]], "count": [2819]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30061089992523193]], [[0.305118590593338]], [[0.3041415810585022]]], "std": [[[0.18124541640281677]], [[0.18217593431472778]], [[0.18318957090377808]]], "count": [2819]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3102439045906067]], [[0.3142511546611786]], [[0.3118342459201813]]], "std": [[[0.18471166491508484]], [[0.1845478117465973]], [[0.18445833027362823]]], "count": [2819]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5724713206291199]], [[0.5725631713867188]], [[0.5732285380363464]]], "std": [[[0.3104241192340851]], [[0.3101835250854492]], [[0.3109484910964966]]], "count": [2819]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6392157077789307]], [[0.6392157077789307]], [[0.6392157077789307]]], "mean": [[[0.003826745552942157]], [[0.003826745552942157]], [[0.003826745552942157]]], "std": [[[0.0376853421330452]], [[0.0376853421330452]], [[0.0376853421330452]]], "count": [2819]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4921558201313019]], [[0.4921558201313019]], [[0.4921558201313019]]], "std": [[[0.22255778312683105]], [[0.22255778312683105]], [[0.22255778312683105]]], "count": [2819]}}}
+{"episode_index": 15, "stats": {"observation.state": {"min": [1.0501303672790527, -0.8066882491111755, -0.22473154962062836, 1.138872504234314, -0.04476982727646828, -0.7686816453933716, 0.40552303194999695, 0.06047169119119644, 0.0051198434084653854, -0.26188284158706665, 0.00830062385648489, 0.010959893465042114, 0.0036868269089609385, -0.07161752134561539, 0.003489253344014287, 0.0008389560971409082, -0.0033365185372531414, -0.034546125680208206, 0.0030403765849769115, 0.0008478245581500232, -0.0033438783138990402, -0.02688717097043991, 0.006770732346922159, 0.0008150112116709352, 0.005651439540088177, -0.002579233143478632, 0.0049293432384729385, 0.005772992502897978, 0.0008456074283458292, 0.8615204095840454, -1.2283858060836792, -0.24296481907367706, 1.0318055152893066, -1.6472971439361572, -0.7859726548194885, -0.20470614731311798, 0.005594844464212656, -0.0436161644756794, -0.192575603723526, -0.233303502202034, 0.003273678943514824, 0.005303937941789627, -0.03864876553416252, 0.0035456286277621984, 0.0010438174940645695, -0.00015405759040731937, -0.05552174150943756, 0.003440323518589139, 0.0008677785517647862, -0.0017169542843475938, -0.1019415333867073, 0.0038739540614187717, 0.000868221977725625, 0.006721788085997105, -0.0013602676335722208, -0.12103409320116043, 0.005723708309233189, 0.001552867004647851, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0016298545524477959, -9.58738019107841e-05, 0.0, -0.7503083348274231], "max": [1.2492009401321411, -0.5918135046958923, -0.0010247710160911083, 1.5689417123794556, 0.15500839054584503, -0.09563591331243515, 0.657951295375824, 1.387749433517456, 0.29556429386138916, -0.00341854989528656, 0.25954294204711914, 0.603973388671875, 0.5078552961349487, 0.09079299122095108, 0.03782689571380615, 0.04086806997656822, 0.4488815367221832, 0.18208838999271393, 0.057244881987571716, 0.04542601481080055, 0.1863715797662735, 0.1842125505208969, 0.026093700900673866, 0.027007557451725006, 0.2488592118024826, 0.26705172657966614, 0.2258865386247635, 0.05256430059671402, 0.036257803440093994, 1.4554301500320435, -0.3251228332519531, -8.388957439819933e-07, 1.835681438446045, 0.20281539857387543, -0.014935579150915146, 0.6981515288352966, 1.4347209930419922, 0.2903994917869568, 0.12420308589935303, 0.17955105006694794, 0.6174201369285583, 1.0276219844818115, 0.16143541038036346, 0.6391616463661194, 0.5097722411155701, 1.395484447479248, 0.292329877614975, 1.5422860383987427, 1.186395287513733, 1.4287745952606201, 0.2985932528972626, 1.6003022193908691, 1.120531439781189, 0.2576574981212616, 1.3363419771194458, 0.29407110810279846, 1.4541935920715332, 1.308184027671814, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.15033011138439178, -0.5980607867240906], "mean": [1.1589642763137817, -0.6668369174003601, -0.22299611568450928, 1.2680060863494873, 0.01808621548116207, -0.20204271376132965, 0.4749758243560791, 1.3453305959701538, 0.28594428300857544, -0.16557101905345917, 0.22882461547851562, 0.5869554281234741, 0.47523611783981323, 0.07505404949188232, 0.03679058700799942, 0.03825538232922554, 0.3245406448841095, 0.14946746826171875, 0.0464133620262146, 0.03564611077308655, 0.08752241730690002, 0.13913339376449585, 0.016386590898036957, 0.013118550181388855, 0.14178451895713806, 0.1487092226743698, 0.1834314465522766, 0.02669466845691204, 0.023032069206237793, 1.229373574256897, -0.6258273124694824, -0.22402623295783997, 1.2786972522735596, -1.2318991422653198, -0.35143017768859863, 0.1170990839600563, 1.2935911417007446, 0.11803129315376282, -0.004973701201379299, -0.10090133547782898, 0.18506090342998505, 0.8150272965431213, 0.11627942323684692, 0.1794341802597046, 0.21848703920841217, 1.158761739730835, 0.022327637299895287, 1.379188060760498, 0.96291184425354, 1.2909202575683594, -0.030854715034365654, 1.4376298189163208, 0.8886894583702087, 0.06626594811677933, 1.1737349033355713, -0.04929481819272041, 1.063477635383606, 1.2520852088928223, 0.5627043843269348, -1.106869101524353, 0.54403156042099, -0.0008958797552622855, 6.199405078177733e-08, 0.09803421050310135, -0.7044963240623474], "std": [0.05463264510035515, 0.04337208345532417, 0.016106363385915756, 0.07428433001041412, 0.0426039882004261, 0.09412666410207748, 0.04795463755726814, 0.09437470138072968, 0.02303713746368885, 0.0231588464230299, 0.019918307662010193, 0.04877692461013794, 0.06949683278799057, 0.020117035135626793, 0.004574684426188469, 0.0051733083091676235, 0.1193845197558403, 0.03698691353201866, 0.011038464494049549, 0.010143119841814041, 0.07649356871843338, 0.038855720311403275, 0.008288191631436348, 0.010092094540596008, 0.08734273165464401, 0.1067732647061348, 0.028124580159783363, 0.01767854578793049, 0.014089629985392094, 0.12006406486034393, 0.17219260334968567, 0.02016824297606945, 0.20626434683799744, 0.3280479311943054, 0.15593837201595306, 0.1759260892868042, 0.13000714778900146, 0.05644241347908974, 0.05296353995800018, 0.07457470893859863, 0.14737465977668762, 0.1836913526058197, 0.029605098068714142, 0.1276824027299881, 0.1198691874742508, 0.21600963175296783, 0.036259569227695465, 0.29057952761650085, 0.22270523011684418, 0.24434082210063934, 0.04975578188896179, 0.30051133036613464, 0.21979594230651855, 0.022738125175237656, 0.2227746993303299, 0.054512061178684235, 0.2554435431957245, 0.2542116641998291, 3.334325083415024e-05, 4.063481173943728e-05, 5.898138988413848e-05, 0.00031117262551561, 3.4471843264327617e-06, 0.03432580456137657, 0.030897079035639763], "count": [3093]}, "observation.state.joint_torque": {"min": [-33.57899856567383, -8.022000312805176, -17.8439998626709, -6.953000068664551, -0.2808000147342682, -1.0463999509811401, 0.8855999708175659, -0.7908605933189392, -0.37441709637641907, -0.47470739483833313, -0.3827483654022217, -0.09629485011100769, -0.38474512100219727, -0.46534013748168945, -0.07305127382278442, -0.039242662489414215, -0.3271773159503937, -0.33293411135673523, -0.13116022944450378, -0.033534638583660126, -0.41065070033073425, -0.4662996232509613, -0.09131408482789993, -0.0321076326072216, -0.11170948296785355, -0.4471103549003601, -0.499880850315094, -0.13116022944450378, -0.033534638583660126, 12.559499740600586, -5.480999946594238, -0.2980000078678131, -8.085000038146973, -2.4751999378204346, -2.9904000759124756, -3.140000104904175, -1.5409682989120483, -0.7437400817871094, -0.9307745695114136, -0.7866225242614746, -0.11123716086149216, -1.1782220602035522, -0.9690588712692261, -0.11787818372249603, -0.06635577231645584, -1.7884413003921509, -0.6188544631004333, -0.6059934496879578, -0.08847437053918839, -1.438236951828003, -0.30702856183052063, -0.5063781142234802, -0.12629002332687378, -0.15305078029632568, -1.5418590307235718, -0.46534016728401184, -0.21417304873466492, -0.14198710024356842, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.614999771118164, 9.225000381469727, -10.291000366210938, 2.188999891281128, 1.7848000526428223, 1.2920000553131104, 2.669600009918213, 0.4750257730484009, 0.3171083629131317, 0.4138156473636627, 0.3578945994377136, 0.08633331209421158, 0.40585339069366455, 0.2907176613807678, 0.07637178897857666, 0.016410568729043007, 0.38762354850769043, 0.23123086988925934, 0.13448072969913483, 0.012843053787946701, 0.29743391275405884, 0.3406098186969757, 0.0531281977891922, 0.015697065740823746, 0.060252752155065536, 0.18517659604549408, 0.33485299348831177, 0.11123716086149216, 0.013556556776165962, 39.89849853515625, 10.16100025177002, 20.160999298095703, 2.0910000801086426, 0.651199996471405, 3.3584001064300537, 2.386399984359741, 2.4222493171691895, 4.843225002288818, 2.4567971229553223, 1.435306429862976, 0.7271921634674072, 2.1463215351104736, 0.8318554759025574, 1.0592433214187622, 0.21405088901519775, 0.7272738814353943, 0.44423192739486694, 0.26232045888900757, 0.05922074615955353, 0.9114910364151001, 0.32813677191734314, 0.3121281564235687, 0.06564227491617203, 0.20098909735679626, 0.7848417162895203, 0.42024531960487366, 0.3104678690433502, 0.05422622710466385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.740955352783203, 1.7232409715652466, -13.573981285095215, -2.235286235809326, 0.19156098365783691, -0.0679190382361412, 1.7286350727081299, -0.0006645521498285234, 0.00016223084821831435, 0.023474914953112602, 0.007177337072789669, 0.0006441359291784465, 0.005511411931365728, 0.00224123103544116, 0.0003714511403813958, 8.4660918219015e-05, 0.010877343825995922, -0.0004631328338291496, -0.0011868176516145468, -0.00010703701991587877, 0.013933241367340088, 0.014199333265423775, -0.00015244576206896454, -0.0017774139996618032, -0.0011342699872329831, 0.005248976405709982, 0.0019124142127111554, -0.0006575536681339145, -0.0003005799953825772, 26.829622268676758, 1.175909399986267, 12.43800163269043, -1.9923689365386963, -0.3945627510547638, 1.3969348669052124, -1.076748251914978, 0.329687237739563, 1.2198137044906616, 0.36547327041625977, 0.15804332494735718, 0.1395142823457718, 0.8415265083312988, -0.16829265654087067, 0.42350873351097107, 0.10092410445213318, -0.04787451773881912, -0.05592312663793564, 0.0018143134657293558, -0.0012523779878392816, 0.009259302169084549, 8.903028356144205e-05, 0.00042727793334051967, -0.0024101778399199247, 0.002148659434169531, -0.011788706295192242, -0.009686141274869442, -0.015471545979380608, 0.003163333749398589, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1775236129760742, 0.8748304843902588, 0.5015093088150024, 0.8433837890625, 0.22389006614685059, 0.3286097049713135, 0.17047032713890076, 0.037193939089775085, 0.02404136396944523, 0.06646912544965744, 0.06208449602127075, 0.008219694718718529, 0.06271512061357498, 0.04966522008180618, 0.006457105278968811, 0.004062250722199678, 0.057905253022909164, 0.047791387885808945, 0.01586833782494068, 0.003624511417001486, 0.054332319647073746, 0.07469070702791214, 0.004563383292406797, 0.005666154436767101, 0.011545075103640556, 0.029785320162773132, 0.06277824193239212, 0.005918511189520359, 0.004281756468117237, 4.5387983322143555, 2.142937183380127, 1.8383134603500366, 1.8004366159439087, 0.330924928188324, 0.7474474906921387, 0.5468561053276062, 0.8039208054542542, 1.2575883865356445, 0.49388977885246277, 0.3320079743862152, 0.16651704907417297, 0.8589717745780945, 0.28719890117645264, 0.41827264428138733, 0.0934724360704422, 0.14914709329605103, 0.11820507794618607, 0.027516653761267662, 0.008716650307178497, 0.07262128591537476, 0.06556516140699387, 0.024735020473599434, 0.00949432235211134, 0.02607431448996067, 0.12877900898456573, 0.1072959378361702, 0.035046208649873734, 0.005591649562120438, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3093]}, "observation.state.tcp": {"min": [0.3601379096508026, 0.178072988986969, 0.9625492095947266, -1.2684807777404785, 1.2193293571472168, -1.5700182914733887, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2220788449048996, -0.2786291837692261, 0.9310500025749207, -0.6886130571365356, 1.1662681102752686, 0.5138624310493469, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4160149097442627, 0.2266731709241867, 1.0569140911102295, -1.0231372117996216, 1.6606353521347046, -1.1867060661315918, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4685615003108978, -0.051431745290756226, 1.1511824131011963, 1.208850622177124, 1.943000078201294, 1.5385414361953735, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3949398100376129, 0.19315695762634277, 1.005677342414856, -1.1130473613739014, 1.573395848274231, -1.4957573413848877, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39550212025642395, -0.15645140409469604, 1.0438498258590698, -0.16823430359363556, 1.7019721269607544, 0.8051490187644958, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01943645253777504, 0.009076926857233047, 0.023533280938863754, 0.04543067142367363, 0.06388642638921738, 0.06331142038106918, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06207804009318352, 0.05607897788286209, 0.04912774637341499, 0.32419416308403015, 0.14513611793518066, 0.15994055569171906, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3093]}, "action": {"min": [1.0500258207321167, -0.8067373633384705, -0.22472819685935974, 1.1388790607452393, -0.04476480185985565, -0.7681500911712646, 0.40551161766052246, 0.0, 0.0, -0.2643890082836151, 0.0, 0.0, 0.0, -0.07044681161642075, 0.0, 0.0, 0.0, -0.04179568216204643, 0.0, 0.0, 0.0, -0.05604091286659241, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8615265488624573, -1.228515625, -0.24292422831058502, 1.0317763090133667, -1.6472941637039185, -0.786070704460144, -0.20486117899417877, 0.0, -0.03936057537794113, -0.19604159891605377, -0.23286549746990204, 0.0, 0.0, -0.040086548775434494, 0.0, 0.0, 0.0, -0.060540154576301575, 0.0, 0.0, 0.0, -0.10278052091598511, 0.0, 0.0, 0.0, 0.0, -0.12028654664754868, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5439911484718323, -0.0015575069701299071, -1.5467374396394007e-05, -5.058756625736968e-18, -0.7502312064170837], "max": [1.249190092086792, -0.5917959213256836, -0.0017194049432873726, 1.5686076879501343, 0.15543612837791443, -0.09562928974628448, 0.6581092476844788, 1.3962429761886597, 0.29176872968673706, 0.0, 0.2669031023979187, 0.6118054389953613, 0.5194188356399536, 0.09239614009857178, 0.04466300457715988, 0.04329408332705498, 0.4588242173194885, 0.18354173004627228, 0.06221939995884895, 0.0477723702788353, 0.1953803449869156, 0.18329523503780365, 0.03259071335196495, 0.028558900579810143, 0.26180002093315125, 0.27682963013648987, 0.23564112186431885, 0.05878635495901108, 0.04102279618382454, 1.455419659614563, -0.32511720061302185, 4.6257001953871826e-17, 1.8356337547302246, 0.204109787940979, -0.014862334355711937, 1.0026991367340088, 1.4387733936309814, 0.2931283414363861, 0.13844887912273407, 0.19909046590328217, 0.6223207116127014, 1.0454864501953125, 0.17464102804660797, 0.6489297747612, 0.5127025842666626, 1.41828453540802, 0.2943112552165985, 1.545225977897644, 1.1874990463256836, 1.4452561140060425, 0.3006974756717682, 1.6045657396316528, 1.1213682889938354, 0.26180002093315125, 1.3413493633270264, 0.2960515022277832, 1.4594945907592773, 1.467513084411621, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 3.5332205609287095e-20, 1.3655054317496251e-05, 0.1508636325597763, -0.5937169194221497], "mean": [1.1590150594711304, -0.6668551564216614, -0.22300687432289124, 1.2680331468582153, 0.018085528165102005, -0.20208878815174103, 0.474997341632843, 1.3526397943496704, 0.2876562774181366, -0.1619364619255066, 0.23093342781066895, 0.5927842855453491, 0.47790828347206116, 0.07605001330375671, 0.041867587715387344, 0.04068214073777199, 0.3284207284450531, 0.15044455230236053, 0.05022549629211426, 0.03811744973063469, 0.08850221335887909, 0.14295442402362823, 0.015839146450161934, 0.014127427712082863, 0.152398020029068, 0.15163321793079376, 0.18746815621852875, 0.027525294572114944, 0.025689730420708656, 1.2301814556121826, -0.6266635060310364, -0.2240280956029892, 1.2793177366256714, -1.232284665107727, -0.3517371714115143, 0.12145408242940903, 1.294590711593628, 0.12237323075532913, -0.005279085133224726, -0.10033973306417465, 0.1858948916196823, 0.8291258811950684, 0.1063067764043808, 0.18348926305770874, 0.2317904233932495, 1.157089352607727, 0.022637180984020233, 1.3785215616226196, 0.9626011252403259, 1.2898377180099487, -0.03024481236934662, 1.4366143941879272, 0.8883442282676697, 0.07139912992715836, 1.1720795631408691, -0.048948995769023895, 1.0608609914779663, 1.3282394409179688, 0.5627082586288452, -1.1068779230117798, 0.5440898537635803, -0.0009409253834746778, 2.9568118975475954e-07, 0.09807854145765305, -0.7045490145683289], "std": [0.05463000759482384, 0.04339441657066345, 0.016091199591755867, 0.07432588934898376, 0.042605821043252945, 0.09420941770076752, 0.047970060259103775, 0.10977482795715332, 0.02677583508193493, 0.02550814300775528, 0.02370356023311615, 0.05591374635696411, 0.07075189799070358, 0.01932596229016781, 0.0055502355098724365, 0.005314667709171772, 0.11952777951955795, 0.03617269545793533, 0.012260012328624725, 0.009984304197132587, 0.07741323113441467, 0.039673905819654465, 0.013566683046519756, 0.012043268419802189, 0.0875786617398262, 0.10852040350437164, 0.029667386785149574, 0.01625378057360649, 0.014798017218708992, 0.12003829330205917, 0.1729835569858551, 0.020183023065328598, 0.2067096084356308, 0.32752877473831177, 0.15596827864646912, 0.1924087256193161, 0.13926097750663757, 0.06064344197511673, 0.053322356194257736, 0.07467465102672577, 0.14907032251358032, 0.19296784698963165, 0.02554088644683361, 0.12958969175815582, 0.13061942160129547, 0.21594010293483734, 0.038095664232969284, 0.2905179262161255, 0.22278648614883423, 0.24436120688915253, 0.0516916960477829, 0.3009469211101532, 0.22004565596580505, 0.026330653578042984, 0.22265668213367462, 0.05582408979535103, 0.2558223307132721, 0.2725096344947815, 2.4838580429786816e-05, 1.4941861081751995e-05, 5.61122978979256e-05, 0.00030969426734372973, 6.6295406213612296e-06, 0.03436281532049179, 0.0309816375374794], "count": [3093]}, "observation.state.tcp_pose": {"min": [0.3601379096508026, 0.178072988986969, 0.9625492095947266, -1.2684807777404785, 1.2193293571472168, -1.5700182914733887, 0.2220788449048996, -0.2786291837692261, 0.9310500025749207, -0.6886130571365356, 1.1662681102752686, 0.5138624310493469], "max": [0.4160149097442627, 0.2266731709241867, 1.0569140911102295, -1.0231372117996216, 1.6606353521347046, -1.1867060661315918, 0.4685615003108978, -0.051431745290756226, 1.1511824131011963, 1.208850622177124, 1.943000078201294, 1.5385414361953735], "mean": [0.3949398100376129, 0.19315695762634277, 1.005677342414856, -1.1130473613739014, 1.573395848274231, -1.4957573413848877, 0.39550212025642395, -0.15645140409469604, 1.0438498258590698, -0.16823430359363556, 1.7019721269607544, 0.8051490187644958], "std": [0.01943645253777504, 0.009076926857233047, 0.023533280938863754, 0.04543067142367363, 0.06388642638921738, 0.06331142038106918, 0.06207804009318352, 0.05607897788286209, 0.04912774637341499, 0.32419416308403015, 0.14513611793518066, 0.15994055569171906], "count": [3093]}, "action.tcp_pose": {"min": [0.36019858717918396, 0.17807535827159882, 0.96248859167099, -1.2662129402160645, 1.219682216644287, -1.5701069831848145, 0.22145870327949524, -0.2786582410335541, 0.931075394153595, -0.6894750595092773, 1.0790268182754517, 0.5140761137008667], "max": [0.4160189628601074, 0.22664231061935425, 1.0569075345993042, -1.0232566595077515, 1.660610556602478, -1.186729073524475, 0.46849754452705383, -0.0514107421040535, 1.1512473821640015, 1.2088515758514404, 1.9427343606948853, 1.6306276321411133], "mean": [0.39495640993118286, 0.1931634247303009, 1.0056706666946411, -1.1130670309066772, 1.573346734046936, -1.4957767724990845, 0.39549675583839417, -0.15668554604053497, 1.0445784330368042, -0.17162811756134033, 1.6973148584365845, 0.8070159554481506], "std": [0.019429633393883705, 0.009083639830350876, 0.023554274812340736, 0.045318201184272766, 0.06402678787708282, 0.06319724023342133, 0.06209290772676468, 0.056320998817682266, 0.049192674458026886, 0.3135305643081665, 0.15715892612934113, 0.1677052080631256], "count": [3093]}, "subtask_index": {"min": [54], "max": [910], "mean": [840.3252505657937], "std": [156.748866588657], "count": [3093]}, "observation.tactile": {"min": [-0.005416186060756445, -4.1158171370625496e-05, -8.861880633048713e-05, -0.0009288450237363577, -6.703218969050795e-05, -8.82692402228713e-05, -0.004282788839191198, -4.767272912431508e-05, -0.00010918341286014766, -0.0007187002338469028, -8.796877409622539e-06, -9.751431207405403e-05, -0.0029912167228758335, -4.5416076318360865e-05, -0.00010061674402095377, -0.0010390644893050194, -6.891398516017944e-05, -7.450175326084718e-05, -0.009039388038218021, -3.179245686624199e-05, -6.834216765128076e-05, -0.0014648553915321827, -1.3911193263993482e-06, -0.0001945275580510497, -0.002141047501936555, -4.2127121560042724e-05, -9.337547817267478e-05, -0.0007875593146309257, -3.694411861943081e-05, -4.1446528484812006e-05, -0.7003833651542664, -3.774618016905151e-05, -8.663319022161886e-05, -0.2179115116596222, -0.009397367015480995, -0.02028307132422924, -8.059967994689941, -0.5086458325386047, -8.942884596763179e-05, -0.35166135430336, -0.042946141213178635, -0.14371395111083984, -0.0079702939838171, -4.4489333959063515e-05, -9.745521674631163e-05, -0.0012201523641124368, -4.019862899440341e-05, -0.0001881939242593944, -0.015647415071725845, -4.829229510505684e-05, -0.0001092505845008418, -0.0016148576978594065, -5.9552119637373835e-05, -0.0003281606768723577, -0.01225455291569233, -4.05086757382378e-05, -9.023755410453305e-05, -0.0015128006925806403, -5.491318734129891e-05, -0.00024691957514733076], "max": [0.004810743033885956, 0.018458403646945953, 0.05236933007836342, 1.6751664588809945e-06, 0.0002510896301828325, 2.2601259843213484e-05, 0.000345166539773345, 0.011829324066638947, 0.035411544144153595, 1.880350509964046e-06, 6.694647890981287e-05, 6.799424227210693e-06, 0.028992509469389915, 0.018163327127695084, 0.05755176767706871, 1.8832967043636017e-06, 0.0003021248849108815, 0.000430793734267354, 0.027922334149479866, 0.025639139115810394, 0.07913137227296829, 1.2871207673015306e-06, 0.00044019630877301097, 0.0003910485247615725, 0.014285529032349586, 0.01688016951084137, 0.050993699580430984, 1.7404689742761548e-06, 0.0002583128516562283, 0.00014684442430734634, 4.623913288116455, 6.588964462280273, 11.542559623718262, 1.6112156799863442e-06, 0.03203550726175308, 0.09125120937824249, 8.356613159179688, 20.941865921020508, 19.5162410736084, 1.6545399148526485e-06, 0.023981763049960136, 0.1777239888906479, 0.012463527731597424, 0.019260797649621964, 0.05701419338583946, 1.793775709302281e-06, 0.000319546990795061, 0.00013638434757012874, 0.06913052499294281, 0.034641578793525696, 0.10503499209880829, 1.979338094315608e-06, 0.0004318832070566714, 0.0008981474093161523, 0.0030262658838182688, 0.025130581110715866, 0.07148093730211258, 1.710238848318113e-06, 0.00014153907250147313, 2.1725898477598093e-05], "mean": [-0.000149059749674052, 0.0014873282052576542, 0.004427653271704912, -5.165920447325334e-05, 1.0472778740222566e-05, -3.113073489657836e-06, -0.00012993211566936225, 0.0005412735627032816, 0.0016012663254514337, -3.062170435441658e-05, 3.0584376418119064e-06, -3.884362286044052e-06, 0.0002297818282386288, 0.0005966828321106732, 0.0017904755659401417, -2.70407872449141e-05, 4.468120550882304e-06, 3.441966782702366e-06, 0.0010437400778755546, 0.004047374241054058, 0.011915045790374279, -0.0001824321661842987, 4.825890209758654e-05, 2.8806282443838427e-06, 0.0005759026971645653, 0.0011775015154853463, 0.003409610129892826, -4.9588092224439606e-05, 1.5273612007149495e-05, 4.7935550355759915e-06, 1.501684546470642, 2.027042865753174, 4.157390594482422, -0.07365847378969193, 0.007461051922291517, 0.023772267624735832, -2.2326719760894775, 1.65067720413208, 7.110389709472656, -0.10832297801971436, -0.007561342790722847, -0.032228756695985794, 0.0002796713379211724, 0.00021278188796713948, 0.0006563991191796958, -1.1960035408264957e-05, 5.245151442068163e-07, 5.051675998402061e-06, 0.0005662453477270901, 0.005356245208531618, 0.01589488796889782, -0.00020968801982235163, 5.161239459994249e-05, -1.078812601917889e-05, -0.00028234851197339594, 0.0017063490813598037, 0.0049378275871276855, -9.678973583504558e-05, 7.5128577918803785e-06, -7.832078154024202e-06], "std": [0.0007106070988811553, 0.0028282434213906527, 0.008177164010703564, 9.764214337337762e-05, 2.8271975679672323e-05, 1.4945512702979613e-05, 0.0006619638297706842, 0.0010720216669142246, 0.0031177762430161238, 6.082734762458131e-05, 7.444163657055469e-06, 1.5058179997140542e-05, 0.000791891710832715, 0.001323042786680162, 0.003925509285181761, 6.409803609130904e-05, 1.75602162926225e-05, 1.2034207429678645e-05, 0.002907790010794997, 0.004197994712740183, 0.012518605217337608, 0.00021764003031421453, 6.284446862991899e-05, 3.83602746296674e-05, 0.0010397472651675344, 0.0024939735885709524, 0.007205097936093807, 0.00010687112080631778, 3.650003782240674e-05, 9.792453965928871e-06, 1.4922261238098145, 2.0000832080841064, 3.6599044799804688, 0.06812280416488647, 0.009578032419085503, 0.025717396289110184, 2.173722982406616, 2.488698720932007, 6.334344863891602, 0.09723799675703049, 0.009419090114533901, 0.034624241292476654, 0.00045421667164191604, 0.0011448191944509745, 0.0033617892768234015, 6.951775139896199e-05, 1.188027727039298e-05, 9.354239409731235e-06, 0.0023140886332839727, 0.005674546584486961, 0.016801292076706886, 0.00023269547091331333, 5.4999527492327616e-05, 3.245715197408572e-05, 0.0011851992458105087, 0.0032340348698198795, 0.009287377819418907, 0.0001880367344710976, 2.204859265475534e-05, 2.6778605388244614e-05], "count": [3093]}, "timestamp": {"min": [0.0], "max": [103.06666666666666], "mean": [51.53333333333334], "std": [29.76240482119583], "count": [3093]}, "frame_index": {"min": [0], "max": [3092], "mean": [1546.0], "std": [892.8721446358749], "count": [3093]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [3093]}, "index": {"min": [39584], "max": [42676], "mean": [41130.0], "std": [892.8721446358749], "count": [3093]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3093]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5607841610908508]], [[0.5608172416687012]], [[0.5616654753684998]]], "std": [[[0.30041277408599854]], [[0.3002466857433319]], [[0.3009992837905884]]], "count": [3093]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3008364737033844]], [[0.30485883355140686]], [[0.3037829101085663]]], "std": [[[0.1801576167345047]], [[0.1812288463115692]], [[0.18208718299865723]]], "count": [3093]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30967986583709717]], [[0.3135184347629547]], [[0.3112106919288635]]], "std": [[[0.1847408562898636]], [[0.1844600886106491]], [[0.18447358906269073]]], "count": [3093]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5645661950111389]], [[0.5647322535514832]], [[0.5652748942375183]]], "std": [[[0.3058762848377228]], [[0.3054889738559723]], [[0.30639830231666565]]], "count": [3093]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6823529601097107]], [[0.6823529601097107]], [[0.6823529601097107]]], "mean": [[[0.0037227245047688484]], [[0.0037227245047688484]], [[0.0037227245047688484]]], "std": [[[0.03736628592014313]], [[0.03736628592014313]], [[0.03736628592014313]]], "count": [3093]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49209561944007874]], [[0.49209561944007874]], [[0.49209561944007874]]], "std": [[[0.2225046306848526]], [[0.2225046306848526]], [[0.2225046306848526]]], "count": [3093]}}}
+{"episode_index": 16, "stats": {"observation.state": {"min": [1.0046170949935913, -0.870326042175293, -0.22473500669002533, 1.1640104055404663, -0.0985734835267067, -0.7677469253540039, 0.3199005424976349, 0.006768702995032072, -0.0014905859716236591, -0.24822813272476196, -0.0016167513094842434, 0.0035229367204010487, 0.0037452117539942265, -0.10001042485237122, 0.0035034355241805315, 0.0008491548360325396, -0.003302664728835225, -0.07741526514291763, 0.0068221441470086575, 0.0008176717674359679, -0.0014615819090977311, -0.026930592954158783, 0.006771087180823088, 0.0008229928789660335, 0.0055476161651313305, -0.00271979789249599, -0.018473876640200615, 0.0022879941388964653, 0.0008522588177584112, 0.945380449295044, -1.116763949394226, -0.2442520558834076, 0.9906668066978455, -1.638250708580017, -0.7685708403587341, -0.20217111706733704, 0.005610563326627016, -0.0007783565088175237, -0.17701873183250427, -0.18522635102272034, 0.003241413738578558, 0.00529437093064189, -0.044647183269262314, 0.003575412090867758, 0.00077111239079386, 8.61052394611761e-05, -0.06809281557798386, 0.00306023214943707, 0.0008837418281473219, -0.0023403032682836056, -0.12144526839256287, 0.0035637114197015762, 0.0008832984021864831, 0.006374995224177837, -0.0037555131129920483, -0.13956515491008759, 0.003174046752974391, 0.0008624575566500425, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.000862864195369184, -9.58738019107841e-05, -0.036432042717933655, -0.7741809487342834], "max": [1.2614128589630127, -0.6022882461547852, -0.0025184848345816135, 1.579851508140564, 0.14317265152931213, -0.0524618998169899, 0.6267707943916321, 1.3088041543960571, 0.2943732738494873, -0.005097994115203619, 0.25131088495254517, 0.4492219388484955, 0.5152204036712646, 0.12492601573467255, 0.03789639100432396, 0.0408937893807888, 0.38106027245521545, 0.20702210068702698, 0.055395130068063736, 0.0409984365105629, 0.13995935022830963, 0.23064661026000977, 0.01865922473371029, 0.017816731706261635, 0.2408498078584671, 0.15640325844287872, 0.24619928002357483, 0.022718969732522964, 0.022484643384814262, 1.4290493726730347, -0.33527493476867676, -0.0021899971179664135, 1.7614617347717285, 0.2255365252494812, -0.05325634032487869, 0.6981559991836548, 1.3890517950057983, 0.29666680097579956, 0.12538307905197144, 0.24833308160305023, 0.4131011962890625, 1.1028534173965454, 0.1942976862192154, 0.5614449977874756, 0.4803733229637146, 1.3701497316360474, 0.30106601119041443, 1.4643640518188477, 0.7672577500343323, 1.4126521348953247, 0.29786908626556396, 1.5724174976348877, 0.9115391373634338, 0.24205073714256287, 1.3684804439544678, 0.30010437965393066, 1.3886525630950928, 1.3107634782791138, 0.5629709362983704, -1.1066712141036987, 0.5442755818367004, 0.0003834952076431364, 9.58738019107841e-05, 0.1438107043504715, -0.569490373134613], "mean": [1.1810911893844604, -0.6724160313606262, -0.22284035384655, 1.2733172178268433, 0.1119396835565567, -0.18642671406269073, 0.39925673604011536, 1.2611315250396729, 0.28714919090270996, -0.15758831799030304, 0.1818612664937973, 0.4332045316696167, 0.4705716371536255, 0.10898417234420776, 0.03687326982617378, 0.03813765197992325, 0.3530229926109314, 0.18519234657287598, 0.05094930902123451, 0.037552934139966965, 0.10903438180685043, 0.19215045869350433, 0.017134182155132294, 0.015694186091423035, 0.1160135269165039, 0.12783212959766388, 0.2214163988828659, 0.020206673070788383, 0.020082158967852592, 1.222348928451538, -0.6217077374458313, -0.22190380096435547, 1.2795956134796143, -1.3147649765014648, -0.36357927322387695, 0.10383135825395584, 1.2720091342926025, 0.12241323292255402, -0.023021752014756203, -0.08647588640451431, 0.15764343738555908, 0.858346700668335, 0.101784847676754, 0.13452208042144775, 0.22569376230239868, 1.129515290260315, -0.00360005721449852, 1.3178285360336304, 0.5422207713127136, 1.2949676513671875, -0.061725132167339325, 1.4141002893447876, 0.6086347103118896, 0.05355321243405342, 1.2032042741775513, -0.07974515855312347, 1.008891224861145, 1.2539355754852295, 0.562698483467102, -1.1068665981292725, 0.5440651774406433, -0.0005056853988207877, 2.727561820847768e-07, 0.09611485153436661, -0.7245463728904724], "std": [0.056034453213214874, 0.05730782076716423, 0.016749493777751923, 0.09589695930480957, 0.03768746182322502, 0.10556437820196152, 0.04919104650616646, 0.10801684856414795, 0.02728952281177044, 0.02537771873176098, 0.02108689397573471, 0.04334395378828049, 0.07235883921384811, 0.024155305698513985, 0.00503137381747365, 0.00545719126239419, 0.0669092908501625, 0.036536805331707, 0.008203497156500816, 0.0065688262693583965, 0.029313161969184875, 0.03919324278831482, 0.0028352297376841307, 0.003691806923598051, 0.02572478912770748, 0.032636385411024094, 0.03760575130581856, 0.0042762914672493935, 0.004342982545495033, 0.12064361572265625, 0.17705301940441132, 0.021728629246354103, 0.2024545818567276, 0.2936614751815796, 0.14573639631271362, 0.16458387672901154, 0.1291666328907013, 0.04535621777176857, 0.03761871159076691, 0.05957241356372833, 0.095632404088974, 0.19724254310131073, 0.023195507004857063, 0.11099658906459808, 0.11141844838857651, 0.20974025130271912, 0.0443362221121788, 0.26901891827583313, 0.1340952068567276, 0.2456207424402237, 0.05551350116729736, 0.28920668363571167, 0.19379787147045135, 0.024103345349431038, 0.22759714722633362, 0.05951014533638954, 0.2289954423904419, 0.2526509761810303, 5.321029675542377e-05, 4.7709163482068107e-05, 5.387282362789847e-05, 0.0002086301101371646, 6.759308689652244e-06, 0.02718212828040123, 0.03358260914683342], "count": [2812]}, "observation.state.joint_torque": {"min": [-30.28499984741211, -1.7595000267028809, -16.60300064086914, -6.322999954223633, -0.12319999933242798, -0.8216000199317932, 1.0944000482559204, -1.1321659088134766, -0.7921340465545654, -0.5380845665931702, -0.3951752781867981, -0.09961536526679993, -0.5622460842132568, -0.4519076645374298, -0.09463459998369217, -0.039242662489414215, -0.3262178599834442, -0.550732433795929, -0.1328205019235611, -0.0321076326072216, -0.36843428015708923, -0.46821853518486023, -0.08301279693841934, -0.033534638583660126, -0.11082987487316132, -0.22355517745018005, -0.5104349851608276, -0.10127562284469604, -0.033534638583660126, 3.8355000019073486, -4.822500228881836, -2.6059999465942383, -7.989999771118164, -2.2088000774383545, -3.932800054550171, -3.207200050354004, -1.3282891511917114, -0.7564753293991089, -0.4510963261127472, -1.4489760398864746, -0.3735576272010803, -0.6255706548690796, -0.7598956823348999, -0.14776279032230377, -0.06849627941846848, -1.583116054534912, -1.0937892198562622, -0.27062171697616577, -0.03424813970923424, -1.1302489042282104, -0.3991371691226959, -0.26896145939826965, -0.04423718526959419, -0.14865277707576752, -0.4662996232509613, -0.555529773235321, -0.4432883560657501, -0.046377696096897125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.277999877929688, 6.410999774932861, -11.361000061035156, -0.18799999356269836, 1.5440000295639038, 1.4335999488830566, 2.7200000286102295, 0.3069201409816742, 0.3209289610385895, 0.3280700147151947, 0.3280700147151947, 0.10293588042259216, 0.38954249024391174, 0.24274446070194244, 0.06807050108909607, 0.019978083670139313, 0.40393444895744324, 0.3195015788078308, 0.0979551151394844, 0.012843053787946701, 0.2907176613807678, 0.4403940737247467, 0.0879935771226883, 0.014270060695707798, 0.064650759100914, 0.2753662168979645, 0.29935285449028015, 0.09131408482789993, 0.014270060695707798, 36.2400016784668, 9.457500457763672, 21.57200050354004, 4.0320000648498535, 0.5879999995231628, 3.135200023651123, 3.274399995803833, 3.549321174621582, 4.377114295959473, 2.183405637741089, 1.3905696868896484, 0.5727883577346802, 2.1539971828460693, 0.8548825979232788, 1.0575830936431885, 0.21476440131664276, 1.3231011629104614, 0.2955150008201599, 0.25235894322395325, 0.09275539219379425, 1.363398790359497, 0.2916771471500397, 0.16602559387683868, 0.10702544450759888, 0.13941693305969238, 1.370114803314209, 0.3502044379711151, 0.42834609746932983, 0.11273347586393356, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.055166244506836, 1.6650136709213257, -13.717416763305664, -1.9934428930282593, 0.2804293632507324, -0.2314281016588211, 1.6902235746383667, 0.0009768906747922301, -0.0033518397249281406, 0.012074253521859646, 0.00468438258394599, 0.0007120457594282925, -0.0033188958186656237, -0.002386049134656787, 5.7270175602752715e-05, 0.000402170728193596, -0.003289879998192191, 0.0036713466979563236, -0.0011814256431534886, -0.00030600419268012047, 0.03332304209470749, 0.02737380377948284, 0.0017919213278219104, 0.00036233331775292754, -0.002550116740167141, 0.010763888247311115, 0.004181463271379471, 0.0010208324529230595, 3.831401772913523e-05, 26.48785400390625, 1.0298662185668945, 12.113300323486328, -2.025583267211914, -0.41846853494644165, 1.363355040550232, -0.917330801486969, 0.46980375051498413, 1.2355585098266602, 0.3521120846271515, 0.08029627054929733, 0.1267995536327362, 0.9224268198013306, -0.03034699149429798, 0.45454809069633484, 0.11294654756784439, -0.1072978749871254, -0.1681998372077942, 0.0017004064284265041, -0.0014239591546356678, 0.0051716398447752, -0.008496997877955437, -0.0019702224526554346, -0.0030230055563151836, -0.0002931003400590271, -0.01830589771270752, -0.005819910205900669, -0.015479599125683308, 0.001416097627952695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7122957110404968, 0.8162677884101868, 0.6716370582580566, 0.668858528137207, 0.18114084005355835, 0.33650729060173035, 0.17801474034786224, 0.03868512064218521, 0.02574538253247738, 0.06543239206075668, 0.06264934688806534, 0.007363544311374426, 0.05957774072885513, 0.05233826860785484, 0.006113662850111723, 0.004579458851367235, 0.04783456027507782, 0.05017462372779846, 0.012859656475484371, 0.003971385303884745, 0.0699009969830513, 0.07946936041116714, 0.009618360549211502, 0.003986602649092674, 0.013022334314882755, 0.028678467497229576, 0.055363524705171585, 0.007212515454739332, 0.00346699939109385, 4.791192054748535, 2.2930705547332764, 2.3529937267303467, 1.7362879514694214, 0.3449252247810364, 0.9076226949691772, 0.5989071726799011, 0.8445044159889221, 1.2339491844177246, 0.41190171241760254, 0.29311060905456543, 0.14114533364772797, 0.8505922555923462, 0.24263691902160645, 0.43428584933280945, 0.10005807131528854, 0.25908222794532776, 0.20684517920017242, 0.02366989478468895, 0.0085868826135993, 0.06857074797153473, 0.06821908801794052, 0.022193042561411858, 0.009095361456274986, 0.025289222598075867, 0.1244375929236412, 0.10691984742879868, 0.04261981323361397, 0.005698906257748604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2812]}, "observation.state.tcp": {"min": [0.35167235136032104, 0.18195824325084686, 0.9433821439743042, -1.3109513521194458, 1.221351146697998, -1.5532379150390625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2494933307170868, -0.2845928370952606, 0.9264073371887207, -0.6450730562210083, 1.1935185194015503, 0.5178430676460266, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4131746292114258, 0.2250097692012787, 1.0674047470092773, -0.9774238467216492, 1.7050584554672241, -1.1969939470291138, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46972325444221497, -0.05546377971768379, 1.1446882486343384, 1.2086008787155151, 1.9270896911621094, 1.4284008741378784, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39925357699394226, 0.1956648826599121, 1.0099239349365234, -1.2457579374313354, 1.5940988063812256, -1.4822810888290405, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39273175597190857, -0.15232601761817932, 1.0415551662445068, -0.24209049344062805, 1.6886377334594727, 0.7757522463798523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010580170899629593, 0.008421472273766994, 0.02783343940973282, 0.046912867575883865, 0.05839787423610687, 0.05240035802125931, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.061678770929574966, 0.05623848736286163, 0.05152576044201851, 0.29236677289009094, 0.14231601357460022, 0.15287479758262634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2812]}, "action": {"min": [1.004324197769165, -0.8703597187995911, -0.22472819685935974, 1.1640254259109497, -0.09857002645730972, -0.76957106590271, 0.3198944628238678, 0.0, 0.0, -0.2535092234611511, 0.0, 0.0, 0.0, -0.10138175636529922, 0.0, 0.0, 0.0, -0.08692769706249237, 0.0, 0.0, 0.0, -0.09652435034513474, 0.0, 0.0, 0.0, 0.0, -0.02806134708225727, 0.0, 0.0, 0.9453809857368469, -1.1168043613433838, -0.2442435473203659, 0.9905930161476135, -1.6383476257324219, -0.7683960795402527, -0.20216484367847443, 0.0, 0.0, -0.18187084794044495, -0.19079376757144928, 0.0, 0.0, -0.04824110493063927, 0.0, 0.0, 0.0, -0.07261347025632858, 0.0, 0.0, 0.0, -0.12241393327713013, 0.0, 0.0, 0.0, 0.0, -0.1399102807044983, 0.0, 0.0, 0.5625878572463989, -1.1069586277008057, 0.5439911484718323, -0.0009334238711744547, -0.00010589777957648039, -0.036541011184453964, -0.7743118405342102], "max": [1.2614103555679321, -0.6022269129753113, -0.0002791565202642232, 1.5798841714859009, 0.14316686987876892, -0.05247499421238899, 0.6267861723899841, 1.318006992340088, 0.29276683926582336, 0.0, 0.2608260214328766, 0.4562903344631195, 0.5250440239906311, 0.12451649457216263, 0.0461738221347332, 0.04419970512390137, 0.38419032096862793, 0.21058595180511475, 0.060215774923563004, 0.042300693690776825, 0.1446879506111145, 0.2307034134864807, 0.025262024253606796, 0.022850340232253075, 0.26180002093315125, 0.15961197018623352, 0.24831973016262054, 0.02892598696053028, 0.027241066098213196, 1.42904794216156, -0.33523091673851013, -0.002500950824469328, 1.7615140676498413, 0.22579525411128998, -0.05317387357354164, 0.9364766478538513, 1.3962087631225586, 0.2966901659965515, 0.1294822096824646, 0.27164775133132935, 0.4174487590789795, 1.119535207748413, 0.256634920835495, 0.5672697424888611, 0.5094932317733765, 1.4251161813735962, 0.30147626996040344, 1.4692686796188354, 0.768797755241394, 1.4838848114013672, 0.2991117238998413, 1.5760935544967651, 0.9132685661315918, 0.26180002093315125, 1.3734575510025024, 0.30160099267959595, 1.392566442489624, 1.46066153049469, 0.5626999735832214, -1.106863021850586, 0.544236958026886, 0.0004191701882518828, 0.00010704818851081654, 0.14426860213279724, -0.5694236755371094], "mean": [1.1811630725860596, -0.6724469065666199, -0.22285018861293793, 1.2733702659606934, 0.11193067580461502, -0.1865304410457611, 0.3992977738380432, 1.267919898033142, 0.28803586959838867, -0.15526731312274933, 0.1830228567123413, 0.4398021101951599, 0.4714241325855255, 0.10996946692466736, 0.04222603514790535, 0.04079984873533249, 0.354072630405426, 0.1878853738307953, 0.050190117210149765, 0.03979051113128662, 0.11084670573472977, 0.19666460156440735, 0.02058747410774231, 0.018848465755581856, 0.11520091444253922, 0.13127416372299194, 0.22439052164554596, 0.024667710065841675, 0.023392919450998306, 1.223128080368042, -0.6223023533821106, -0.2219308763742447, 1.2800209522247314, -1.3152114152908325, -0.3641480803489685, 0.10658212006092072, 1.2726294994354248, 0.12686127424240112, -0.023233266547322273, -0.08684126287698746, 0.15852244198322296, 0.8695235848426819, 0.0981924757361412, 0.14375115931034088, 0.248806431889534, 1.1269904375076294, -0.0034004608169198036, 1.3178569078445435, 0.5420038104057312, 1.2930468320846558, -0.06093618646264076, 1.413913369178772, 0.6083515286445618, 0.05658560246229172, 1.200623631477356, -0.07926438748836517, 1.0066144466400146, 1.3306069374084473, 0.5627042651176453, -1.1068724393844604, 0.5441349744796753, -0.0005474643548950553, 1.589253429301607e-06, 0.09616485238075256, -0.7245904207229614], "std": [0.05602738633751869, 0.057319607585668564, 0.016734816133975983, 0.09593620896339417, 0.03772421553730965, 0.10575855523347855, 0.049223892390728, 0.11845436692237854, 0.02746969275176525, 0.026746558025479317, 0.021938970312476158, 0.043145060539245605, 0.07195671647787094, 0.023672698065638542, 0.00587598467245698, 0.005571370478719473, 0.06698893010616302, 0.03663736954331398, 0.008819736540317535, 0.006990594789385796, 0.029826948419213295, 0.040819790214300156, 0.004955282434821129, 0.004491416737437248, 0.031997598707675934, 0.03318827226758003, 0.0373966284096241, 0.0055380105040967464, 0.0052119973115623, 0.12075908482074738, 0.17745940387248993, 0.021595602855086327, 0.20267412066459656, 0.29406657814979553, 0.14604878425598145, 0.17528188228607178, 0.13642345368862152, 0.04862534627318382, 0.03765543922781944, 0.0621216706931591, 0.09791863709688187, 0.20090998709201813, 0.030866431072354317, 0.12562547624111176, 0.12515150010585785, 0.20927321910858154, 0.047047730535268784, 0.26926594972610474, 0.13406963646411896, 0.24545268714427948, 0.05804826319217682, 0.28941842913627625, 0.1938789188861847, 0.028112448751926422, 0.22723735868930817, 0.06200402230024338, 0.22894702851772308, 0.26990851759910583, 2.137682713510003e-05, 1.035682453220943e-05, 3.190414281561971e-05, 0.00020873839093837887, 9.436625077796634e-06, 0.027237601578235626, 0.03368134796619415], "count": [2812]}, "observation.state.tcp_pose": {"min": [0.35167235136032104, 0.18195824325084686, 0.9433821439743042, -1.3109513521194458, 1.221351146697998, -1.5532379150390625, 0.2494933307170868, -0.2845928370952606, 0.9264073371887207, -0.6450730562210083, 1.1935185194015503, 0.5178430676460266], "max": [0.4131746292114258, 0.2250097692012787, 1.0674047470092773, -0.9774238467216492, 1.7050584554672241, -1.1969939470291138, 0.46972325444221497, -0.05546377971768379, 1.1446882486343384, 1.2086008787155151, 1.9270896911621094, 1.4284008741378784], "mean": [0.39925357699394226, 0.1956648826599121, 1.0099239349365234, -1.2457579374313354, 1.5940988063812256, -1.4822810888290405, 0.39273175597190857, -0.15232601761817932, 1.0415551662445068, -0.24209049344062805, 1.6886377334594727, 0.7757522463798523], "std": [0.010580170899629593, 0.008421472273766994, 0.02783343940973282, 0.046912867575883865, 0.05839787423610687, 0.05240035802125931, 0.061678770929574966, 0.05623848736286163, 0.05152576044201851, 0.29236677289009094, 0.14231601357460022, 0.15287479758262634], "count": [2812]}, "action.tcp_pose": {"min": [0.3517841696739197, 0.18194617331027985, 0.9429913759231567, -1.3110270500183105, 1.2181988954544067, -1.5536112785339355, 0.24963930249214172, -0.28760018944740295, 0.9267468452453613, -0.6450859904289246, 1.161007046699524, 0.5177375078201294], "max": [0.4131840169429779, 0.22498515248298645, 1.0673273801803589, -0.9789673686027527, 1.7050480842590332, -1.197384238243103, 0.4697401523590088, -0.055451154708862305, 1.1448252201080322, 1.2078605890274048, 1.927104115486145, 1.4641667604446411], "mean": [0.3992716372013092, 0.19567428529262543, 1.0099290609359741, -1.2457443475723267, 1.593990445137024, -1.48227059841156, 0.39277637004852295, -0.15250058472156525, 1.0421432256698608, -0.24439965188503265, 1.6849417686462402, 0.7766748666763306], "std": [0.010559082962572575, 0.008420543745160103, 0.027864893898367882, 0.046963710337877274, 0.05864720791578293, 0.05237528681755066, 0.06167180463671684, 0.05643240362405777, 0.05161723867058754, 0.28602224588394165, 0.14900250732898712, 0.15734107792377472], "count": [2812]}, "subtask_index": {"min": [54], "max": [964], "mean": [916.1237553342817], "std": [135.473104065034], "count": [2812]}, "observation.tactile": {"min": [-0.016655748710036278, -3.738183659152128e-05, -8.131051436066628e-05, -0.0014394441386684775, -0.00011490145698189735, -0.00021976526477374136, -0.005962394643574953, -4.662704304791987e-05, -0.00010594782361295074, -0.0005135052488185465, -2.0100285837543197e-05, -0.00012046740448568016, -0.02275487780570984, -4.7718473069835454e-05, -0.00010559022484812886, -0.0018150362884625793, -0.00010044551163446158, -0.0004845433868467808, -0.020760349929332733, -3.3385538699803874e-05, -7.287126209121197e-05, -0.0015790783800184727, -2.6600844648783095e-05, -0.00043842586455866694, -0.009506555274128914, -4.665391315938905e-05, -0.00010428624227643013, -0.000713290530256927, -7.50243998481892e-05, -0.00017381313955411315, -7.7041473388671875, -0.010754302144050598, -9.185323142446578e-05, -0.17200684547424316, -0.014179286547005177, -0.08422981947660446, -4.8256425857543945, -0.7404840588569641, -0.00011733757855836302, -0.1976325511932373, -0.027457937598228455, -0.07872332632541656, -0.015143119730055332, -4.2960320570273325e-05, -9.49290842982009e-05, -0.001488376990891993, -7.148785516619682e-05, -0.0003318329981993884, -0.03034004382789135, -5.573261296376586e-05, -0.00012527481885626912, -0.002166683552786708, -8.5001542174723e-05, -0.0006646640249527991, -0.17636549472808838, -4.159753007115796e-05, -9.284829866373911e-05, -0.00074671400943771, -6.695580668747425e-05, -0.0021649941336363554], "max": [0.01374902855604887, 0.027317559346556664, 0.07991308718919754, 1.5341666994572734e-06, 0.00034875617711804807, 0.00019682054698932916, 0.00033619662281125784, 0.007953999564051628, 0.02462688833475113, 1.8268549411004642e-06, 2.2514446754939854e-05, 6.6204329414176755e-06, 0.02178235910832882, 0.02995230257511139, 0.08938328921794891, 1.9832868929370306e-06, 0.00043953603017143905, 0.00026123481802642345, 0.01210409589111805, 0.02688966877758503, 0.08245734125375748, 1.3678888990398264e-06, 0.00017291503900196403, 0.00014174901298247278, 0.0022861280012875795, 0.013187314383685589, 0.03795289248228073, 1.952980710484553e-06, 0.00010249807382933795, 7.550386726506986e-06, 4.826504230499268, 15.261271476745605, 12.234395980834961, 1.696709546195052e-06, 0.03389532119035721, 0.07495413720607758, 0.4623534083366394, 11.050602912902832, 12.33472728729248, 2.196153445765958e-06, 0.001436409424059093, 0.031012320891022682, 0.021610870957374573, 0.02586006559431553, 0.07351886481046677, 1.7753927750163712e-06, 0.0003511770337354392, 0.0002889712923206389, 0.03461921960115433, 0.0329146608710289, 0.10230247676372528, 2.290056272613583e-06, 0.0002609358634799719, 0.0004759425937663764, 0.002493709558621049, 0.01888861320912838, 0.04670776054263115, 1.7124750684160972e-06, 0.00054926733719185, 3.527919761836529e-05], "mean": [-0.0018195549491792917, 0.003309753956273198, 0.010072781704366207, -0.00013350285007618368, -5.405465799412923e-06, -1.8861599528463557e-05, 0.00021197281603235751, 8.423604595009238e-05, 0.00027586001669988036, -5.500287898030365e-06, -9.556254099152284e-07, 3.937885139748687e-06, -0.0006393422372639179, 0.001808030647225678, 0.00540560856461525, -0.0001075684413081035, 4.8781071200210135e-06, -1.5071836060087662e-05, -0.0017786920070648193, 0.002959214383736253, 0.008746383711695671, -0.00016126569244079292, 2.1531346646952443e-05, -3.982253838330507e-05, -0.0001555263443151489, 0.001520006568171084, 0.004469724837690592, -6.904074689373374e-05, 1.1494917089294177e-05, -4.940162398270331e-06, 1.2594530582427979, 2.25610089302063, 4.305112838745117, -0.06983327120542526, 0.004579237196594477, 0.01990485191345215, -1.7483519315719604, 1.107975959777832, 5.0993194580078125, -0.07807683944702148, -0.006368723232299089, -0.025008156895637512, -0.0019258572719991207, 0.004930413328111172, 0.014784530736505985, -0.00029494892805814743, 1.0974601536872797e-05, -4.278182314010337e-05, -0.002769476966932416, 0.006257529370486736, 0.018541326746344566, -0.00038614755612798035, 1.0669593848433578e-06, -5.891804175917059e-05, -0.0002426267456030473, 0.0013841971522197127, 0.004045946057885885, -8.098274702206254e-05, 8.073260687524453e-06, -6.525590379169444e-06], "std": [0.0028469786047935486, 0.0039581130258738995, 0.011971580795943737, 0.0001750020746840164, 3.55226184183266e-05, 3.4200322261312976e-05, 0.0003185068489983678, 0.0004645052249543369, 0.0013633726630359888, 2.666554610186722e-05, 2.8377821763569955e-06, 6.891282737342408e-06, 0.0026314002461731434, 0.003995359409600496, 0.011854908429086208, 0.0002409970184089616, 2.834656879713293e-05, 5.251631228020415e-05, 0.0032730638049542904, 0.00439831567928195, 0.012978848069906235, 0.00024164808564819396, 3.321270560263656e-05, 6.797926471335813e-05, 0.0007275574607774615, 0.0022170909214764833, 0.006466410588473082, 0.00010177458898397163, 1.959234032256063e-05, 1.557044561195653e-05, 1.5658241510391235, 2.1743438243865967, 3.7130603790283203, 0.06014649197459221, 0.009029482491314411, 0.025058025494217873, 1.5764659643173218, 1.880237102508545, 4.303416728973389, 0.06657841801643372, 0.006952566560357809, 0.024608097970485687, 0.0030624365899711847, 0.005847243592143059, 0.017446521669626236, 0.0003556924930308014, 3.3433298085583374e-05, 5.9644698922056705e-05, 0.0039750621654093266, 0.006723793689161539, 0.019943632185459137, 0.0004269844794180244, 2.4417311578872614e-05, 8.249621896538883e-05, 0.004716275725513697, 0.0022559252101927996, 0.006469715386629105, 0.0001313574321102351, 1.9472627172945067e-05, 6.120641046436504e-05], "count": [2812]}, "timestamp": {"min": [0.0], "max": [93.7], "mean": [46.85], "std": [27.05848090504877], "count": [2812]}, "frame_index": {"min": [0], "max": [2811], "mean": [1405.5], "std": [811.7544271514631], "count": [2812]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [2812]}, "index": {"min": [42677], "max": [45488], "mean": [44082.5], "std": [811.7544271514631], "count": [2812]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2812]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5620790123939514]], [[0.5621923208236694]], [[0.5629088878631592]]], "std": [[[0.3025687634944916]], [[0.30229443311691284]], [[0.30300965905189514]]], "count": [2812]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3003038763999939]], [[0.30466029047966003]], [[0.3034212291240692]]], "std": [[[0.18057364225387573]], [[0.18157346546649933]], [[0.18269141018390656]]], "count": [2812]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30995288491249084]], [[0.31403225660324097]], [[0.3118859827518463]]], "std": [[[0.18499325215816498]], [[0.18478704988956451]], [[0.18498846888542175]]], "count": [2812]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5677481293678284]], [[0.567996084690094]], [[0.5684044361114502]]], "std": [[[0.30781376361846924]], [[0.3073180317878723]], [[0.30820026993751526]]], "count": [2812]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5647059082984924]], [[0.5647059082984924]], [[0.5647059082984924]]], "mean": [[[0.0036073403898626566]], [[0.0036073403898626566]], [[0.0036073403898626566]]], "std": [[[0.03642820566892624]], [[0.03642820566892624]], [[0.03642820566892624]]], "count": [2812]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49196338653564453]], [[0.49196338653564453]], [[0.49196338653564453]]], "std": [[[0.22239363193511963]], [[0.22239363193511963]], [[0.22239363193511963]]], "count": [2812]}}}
+{"episode_index": 17, "stats": {"observation.state": {"min": [1.0301610231399536, -0.9316994547843933, -0.22492195665836334, 1.253156065940857, -0.11609586328268051, -0.7696180939674377, 0.2745608687400818, 0.02093287743628025, 0.0018508562352508307, -0.23867972195148468, 0.007821621373295784, 0.004867439158260822, 0.0004408299282658845, -0.2004469633102417, 0.0035137180238962173, 0.0008487114100717008, -0.003176574595272541, -0.23452110588550568, 0.0030293851159512997, 0.0008509285398758948, -0.0031505702063441277, -0.026956841349601746, 0.0027194973081350327, 0.0008376258774660528, 0.005715660750865936, -0.0026339387986809015, -0.026111487299203873, 0.0022684934083372355, 0.0008420600206591189, 0.9404901266098022, -1.1911075115203857, -0.24351584911346436, 1.002781867980957, -1.7412567138671875, -0.7700012922286987, -0.41562408208847046, 0.005599903408437967, -0.11635728180408478, -0.25110384821891785, -0.16759039461612701, 0.0032680057920515537, 0.00021955616830382496, -0.16044308245182037, 0.003762975800782442, 0.0009506986825726926, -0.0006817275425419211, -0.12166701257228851, 0.0030939155258238316, 0.0008757602190598845, -0.0008325966191478074, -0.14672240614891052, 0.003887781873345375, 0.0008562495931982994, 0.0066522154957056046, -0.0012719540391117334, -0.16435003280639648, 0.0032098577357828617, 0.0008429468725807965, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0012463594321161509, -9.58738019107841e-05, -0.03796602413058281, -0.8053399324417114], "max": [1.233834981918335, -0.6866348385810852, -0.0005143629387021065, 1.585436463356018, 0.22711892426013947, -0.02270255610346794, 0.6092908382415771, 1.3372089862823486, 0.2961285710334778, -0.00047275194083340466, 0.27889129519462585, 0.4644961655139923, 0.6438653469085693, 0.12133413553237915, 0.04542021453380585, 0.04543222486972809, 0.7186025381088257, 0.20187616348266602, 0.07203228771686554, 0.054832786321640015, 0.37219879031181335, 0.21285691857337952, 0.044966019690036774, 0.036275096237659454, 0.24888597428798676, 0.47096988558769226, 0.19507309794425964, 0.10331926494836807, 0.05465630814433098, 1.4124308824539185, -0.30366215109825134, -5.704490831703879e-05, 1.7785859107971191, 0.035194430500268936, -0.1373239904642105, 0.6981531381607056, 1.3618916273117065, 0.27151617407798767, 0.27640479803085327, 0.21710169315338135, 0.5999086499214172, 1.1653451919555664, 0.09649239480495453, 0.6062649488449097, 0.6125882863998413, 1.3508594036102295, 0.21244722604751587, 1.49981689453125, 1.115337610244751, 1.4507651329040527, 0.19359681010246277, 1.553856611251831, 1.2941341400146484, 0.24276572465896606, 1.3721979856491089, 0.2870730459690094, 1.4736919403076172, 1.3081378936767578, 0.5627791881561279, -1.1066712141036987, 0.5443714261054993, 0.0003834952076431364, 9.58738019107841e-05, 0.1366201639175415, -0.5999782085418701], "mean": [1.1468839645385742, -0.7412192821502686, -0.2232910692691803, 1.3159611225128174, 0.06650640070438385, -0.17975595593452454, 0.4020979404449463, 1.2937427759170532, 0.2886722981929779, -0.14601662755012512, 0.2192573845386505, 0.44840604066848755, 0.5973633527755737, 0.10163294523954391, 0.044292133301496506, 0.04369860514998436, 0.6673710346221924, 0.17951492965221405, 0.06534572690725327, 0.05247091129422188, 0.31450432538986206, 0.1797761768102646, 0.03934457525610924, 0.03402279317378998, 0.08528783172369003, 0.36641210317611694, 0.17381468415260315, 0.054689373821020126, 0.04654289409518242, 1.2203668355941772, -0.6176497936248779, -0.2160567343235016, 1.2727439403533936, -1.282434344291687, -0.3747282922267914, 0.030748022720217705, 1.2333818674087524, 0.08652934432029724, 0.0014521339908242226, -0.036744557321071625, 0.16121473908424377, 0.8547407984733582, 0.032004401087760925, 0.17080679535865784, 0.2377493679523468, 1.178101897239685, -0.05414710193872452, 1.3588521480560303, 0.8991643190383911, 1.3126143217086792, -0.09269548207521439, 1.4163475036621094, 0.9273499846458435, 0.028052235022187233, 1.2367488145828247, -0.10733149200677872, 1.0511149168014526, 1.25774347782135, 0.5627053380012512, -1.1068730354309082, 0.5440345406532288, -0.0007841630722396076, 9.122150146367858e-08, 0.09166835248470306, -0.7385724186897278], "std": [0.06614035367965698, 0.04329060763120651, 0.014927051961421967, 0.07082287222146988, 0.037613850086927414, 0.113101527094841, 0.05021202936768532, 0.0973656103014946, 0.021760763600468636, 0.029125744476914406, 0.020750556141138077, 0.03575848415493965, 0.08783061057329178, 0.03162434324622154, 0.005879581440240145, 0.005973926745355129, 0.11540219932794571, 0.04452956095337868, 0.00987349171191454, 0.008329744450747967, 0.058059435337781906, 0.035352673381567, 0.006534472107887268, 0.0056548044085502625, 0.015253335237503052, 0.06951620429754257, 0.029979581013321877, 0.011040279641747475, 0.007970240898430347, 0.11162164807319641, 0.17870648205280304, 0.021979179233312607, 0.1837325096130371, 0.3104130029678345, 0.13355179131031036, 0.20104555785655975, 0.12941256165504456, 0.08271991461515427, 0.12148912996053696, 0.07267291843891144, 0.1457940936088562, 0.20749084651470184, 0.03416929766535759, 0.16509434580802917, 0.14172039926052094, 0.20236189663410187, 0.03101445361971855, 0.2700757682323456, 0.19325166940689087, 0.22747428715229034, 0.03593330457806587, 0.28044790029525757, 0.23249132931232452, 0.022860759869217873, 0.21428190171718597, 0.04363207146525383, 0.23457136750221252, 0.24229003489017487, 3.796700548264198e-05, 4.1223458538297564e-05, 6.609115371247754e-05, 0.00027998193399980664, 5.121443336975062e-06, 0.030986255034804344, 0.04340365156531334], "count": [3153]}, "observation.state.joint_torque": {"min": [-38.26350021362305, -6.5894999504089355, -21.051000595092773, -6.698999881744385, -0.18479999899864197, -1.0271999835968018, 0.6872000098228455, -0.7526547908782959, -0.30055245757102966, -0.41008755564689636, -0.51198810338974, -0.11787818372249603, -0.4336778521537781, -0.690814197063446, -0.09629485011100769, -0.039242662489414215, -0.47013747692108154, -0.4403941035270691, -0.11289741843938828, -0.0321076326072216, -0.36843425035476685, -0.5267458558082581, -0.07803203910589218, -0.02996712550520897, -0.10643186420202255, -0.35596126317977905, -0.6035030484199524, -0.13448072969913483, -0.0321076326072216, 10.528499603271484, -4.563000202178955, 0.6840000152587891, -8.642999649047852, -2.059999942779541, -2.924799919128418, -3.9240000247955322, -1.351212739944458, -0.7602959275245667, -0.5989763736724854, -0.9804819822311401, -0.302166610956192, -0.7205576300621033, -1.0544512271881104, -0.1776474118232727, -0.07135029137134552, -0.9853698015213013, -0.9258829951286316, -0.3536345660686493, -0.07206379622220993, -0.9872886538505554, -0.37515053153038025, -0.28722429275512695, -0.05279921740293503, -0.1482129693031311, -0.8433690667152405, -0.5372999906539917, -0.8948780298233032, -0.09489589184522629, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.459999084472656, 7.498499870300293, -10.074000358581543, 0.5839999914169312, 1.8519999980926514, 1.0751999616622925, 2.7535998821258545, 0.36550238728523254, 0.2419702261686325, 0.3802630305290222, 0.36037999391555786, 0.08633331209421158, 0.7234360575675964, 0.5171512365341187, 0.09463459998369217, 0.019264578819274902, 0.3693937361240387, 0.26673105359077454, 0.12119869887828827, 0.013556556776165962, 0.4432724714279175, 0.3175826370716095, 0.11787818372249603, 0.01783757284283638, 0.06245175749063492, 0.3012717664241791, 0.3454071283340454, 0.10459613054990768, 0.02354559674859047, 37.87950134277344, 14.550000190734863, 20.89900016784668, 4.560999870300293, 0.5192000269889832, 3.4296000003814697, 1.257599949836731, 2.456634521484375, 4.738795757293701, 2.3424696922302246, 1.3619877099990845, 0.6059934496879578, 2.145362138748169, 0.8481664061546326, 1.0575830936431885, 0.21547789871692657, 0.3885829746723175, 0.393380343914032, 0.220814049243927, 0.03567514568567276, 0.506597101688385, 0.36171799898147583, 0.34865376353263855, 0.06706927716732025, 0.1240239068865776, 0.570881187915802, 0.6629897952079773, 0.2722820043563843, 0.05565322935581207, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.705427169799805, 2.522106409072876, -13.676985740661621, -2.3144688606262207, 0.20735971629619598, -0.2164098173379898, 1.6474045515060425, 0.0009596895542927086, -0.0022828946821391582, 0.021334342658519745, 0.008218408562242985, 0.0003001409932039678, 0.003375621046870947, 0.0048697153106331825, 0.00022010401880834252, 4.072950559930177e-06, 0.009476251900196075, -0.0015632020076736808, -0.0004744346078950912, 9.300632518716156e-05, 0.02387620508670807, 0.020892787724733353, 0.0002548573538661003, 0.00041773830889724195, -0.0011612256057560444, 0.001997736981138587, 0.0052038393914699554, -0.00184982072096318, -0.0005716170417144895, 26.904802322387695, 1.1523756980895996, 12.320772171020508, -1.9627265930175781, -0.504791259765625, 1.4315828084945679, -0.9971450567245483, 0.5546324253082275, 1.540195107460022, 0.413438081741333, 0.07407698035240173, 0.14990398287773132, 0.8009480237960815, -0.26138514280319214, 0.4758947789669037, 0.11050242930650711, -0.039616409689188004, -0.0772831067442894, -0.002534353407099843, -0.0017786672106012702, -0.006298427004367113, -0.008574008010327816, -0.0006824240554124117, -0.0024720400106161833, 0.00125091930385679, -0.023320812731981277, 0.0012637689942494035, -0.01872200332581997, 0.003075083252042532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.9916955232620239, 0.862130343914032, 0.7079070210456848, 0.6887064576148987, 0.16829432547092438, 0.332163542509079, 0.17819179594516754, 0.035706356167793274, 0.019961979240179062, 0.055432792752981186, 0.05367130786180496, 0.007709222380071878, 0.050216659903526306, 0.06697293370962143, 0.006279196590185165, 0.0033336651977151632, 0.05328001081943512, 0.04862599074840546, 0.01252253819257021, 0.0035844314843416214, 0.06729704886674881, 0.06881541013717651, 0.00707379961386323, 0.003782368265092373, 0.008478948846459389, 0.029187889769673347, 0.03951612114906311, 0.0103435218334198, 0.0038139119278639555, 4.2605438232421875, 2.3030166625976562, 1.954467535018921, 1.6109257936477661, 0.30356723070144653, 0.7462207674980164, 0.5578657388687134, 0.8198390007019043, 1.543383240699768, 0.47524940967559814, 0.32149943709373474, 0.1587078869342804, 0.768152117729187, 0.35632506012916565, 0.44380414485931396, 0.09768393635749817, 0.11384284496307373, 0.1509585678577423, 0.020857226103544235, 0.008456439711153507, 0.060103338211774826, 0.05369793623685837, 0.021076997742056847, 0.009095466695725918, 0.01822962984442711, 0.11141546070575714, 0.0995279923081398, 0.04513512924313545, 0.005230234935879707, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3153]}, "observation.state.tcp": {"min": [0.3505357503890991, 0.19237180054187775, 0.93944251537323, -1.3596755266189575, 1.2181174755096436, -1.5708256959915161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23280216753482819, -0.33310332894325256, 0.9405897259712219, -0.7110616564750671, 1.2178324460983276, 0.3424450159072876, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.40258392691612244, 0.24979354441165924, 1.063677430152893, -0.9079333543777466, 1.7613511085510254, -1.2290723323822021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4728216528892517, -0.03633054718375206, 1.1439701318740845, 1.208862066268921, 1.9372252225875854, 1.36781644821167, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3819010257720947, 0.21877725422382355, 0.9959646463394165, -1.242976427078247, 1.6199878454208374, -1.4462673664093018, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3979256749153137, -0.1574152112007141, 1.0403482913970947, -0.1497572362422943, 1.6994863748550415, 0.7123630046844482, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.015366736799478531, 0.008684439584612846, 0.03403061255812645, 0.082997627556324, 0.08775293081998825, 0.052826546132564545, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05622818320989609, 0.06377734243869781, 0.04863142967224121, 0.30791857838630676, 0.12835054099559784, 0.16545233130455017, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3153]}, "action": {"min": [1.030164122581482, -0.9318141341209412, -0.22491994500160217, 1.2531425952911377, -0.11638520658016205, -0.7655190229415894, 0.27450427412986755, 0.0, 0.0, -0.24361400306224823, 0.0, 0.0, 0.0, -0.21043741703033447, 0.0, 0.0, 0.0, -0.2430827021598816, 0.0, 0.0, 0.0, -0.2676629424095154, 0.0, 0.0, 0.0, 0.0, -0.25341376662254333, 0.0, 0.0, 0.9405220746994019, -1.1915770769119263, -0.2434777170419693, 1.0027308464050293, -1.7412474155426025, -0.7699999809265137, -0.4156445562839508, 0.0, -0.12087026238441467, -0.24998721480369568, -0.16470497846603394, 0.0, 0.0, -0.16218464076519012, 0.0, 0.0, 0.0, -0.12563011050224304, 0.0, 0.0, 0.0, -0.1535518616437912, 0.0, 0.0, 0.0, 0.0, -0.1710824966430664, 0.0, 0.0, 0.5625879168510437, -1.1069586277008057, 0.5439888834953308, -0.0012631528079509735, -0.00010970351286232471, -0.0393834114074707, -0.805284321308136], "max": [1.2338321208953857, -0.6866181492805481, -0.003777903039008379, 1.5855244398117065, 0.22717730700969696, -0.022677311673760414, 0.609517514705658, 1.3478854894638062, 0.29313841462135315, 0.0, 0.2818518579006195, 0.47280269861221313, 0.6521653532981873, 0.12165358662605286, 0.05054213106632233, 0.04934115335345268, 0.7246392369270325, 0.20728731155395508, 0.07713582366704941, 0.05881654843688011, 0.3781401216983795, 0.2107764184474945, 0.04888110235333443, 0.04124242067337036, 0.2617972493171692, 0.4839498996734619, 0.2001747190952301, 0.10766137391328812, 0.05910884961485863, 1.4124338626861572, -0.303630530834198, -2.6112296956369844e-17, 1.7789374589920044, 0.035336509346961975, -0.13727842271327972, 0.8524677157402039, 1.3659424781799316, 0.2864522337913513, 0.2765268385410309, 0.23068997263908386, 0.6040269732475281, 1.1687073707580566, 0.0984615832567215, 0.6102818250656128, 0.645946204662323, 1.378395438194275, 0.2135445475578308, 1.5040619373321533, 1.1162537336349487, 1.4562028646469116, 0.19686298072338104, 1.5573241710662842, 1.2955536842346191, 0.25678351521492004, 1.3802601099014282, 0.288036048412323, 1.478347659111023, 1.461499810218811, 0.5626999735832214, -1.106863021850586, 0.544233500957489, 0.0004226986493449658, 6.0737536841770634e-05, 0.1371985673904419, -0.6000000238418579], "mean": [1.1469478607177734, -0.7412723302841187, -0.22331014275550842, 1.3159812688827515, 0.06646748632192612, -0.1798090934753418, 0.4021354913711548, 1.3030848503112793, 0.2888447940349579, -0.14163309335708618, 0.22131191194057465, 0.45403531193733215, 0.600544810295105, 0.10335466265678406, 0.04723063111305237, 0.04639122262597084, 0.6708185076713562, 0.18311381340026855, 0.06791342049837112, 0.055893413722515106, 0.31888753175735474, 0.18008479475975037, 0.043169863522052765, 0.03697071596980095, 0.07953629642724991, 0.3689460754394531, 0.17606085538864136, 0.05622588470578194, 0.04871362820267677, 1.2210525274276733, -0.6184088587760925, -0.2160615473985672, 1.2733806371688843, -1.2828224897384644, -0.3751293420791626, 0.031303346157073975, 1.235708475112915, 0.09287294745445251, 0.0017877004574984312, -0.036855265498161316, 0.16238832473754883, 0.8644832968711853, 0.02362341247498989, 0.173954576253891, 0.24961623549461365, 1.1752647161483765, -0.053869739174842834, 1.357820987701416, 0.8987633585929871, 1.310075044631958, -0.09270388633012772, 1.4161560535430908, 0.9269781112670898, 0.03690595179796219, 1.233862042427063, -0.10744582861661911, 1.0485247373580933, 1.3554164171218872, 0.5627086758613586, -1.1068789958953857, 0.5441061854362488, -0.0008306677918881178, 8.611496582489053e-07, 0.09172547608613968, -0.7386167645454407], "std": [0.06611963361501694, 0.043397288769483566, 0.014822009019553661, 0.07085071504116058, 0.0377458781003952, 0.113186776638031, 0.05021857097744942, 0.1116756722331047, 0.025420786812901497, 0.03092985600233078, 0.023999247699975967, 0.040975894778966904, 0.0874539241194725, 0.030719898641109467, 0.006286160554736853, 0.006148512940853834, 0.11570780724287033, 0.04395117238163948, 0.011092509143054485, 0.00910437386482954, 0.05957389622926712, 0.04587859287858009, 0.007541372906416655, 0.006417848169803619, 0.019897710531949997, 0.06897429376840591, 0.037703607231378555, 0.010766037739813328, 0.008414559066295624, 0.1116175502538681, 0.1795516163110733, 0.022006388753652573, 0.1842752993106842, 0.3113552927970886, 0.1337449699640274, 0.2035108208656311, 0.1374678760766983, 0.08707750588655472, 0.1212221086025238, 0.0734284371137619, 0.14650988578796387, 0.2123129516839981, 0.02860356867313385, 0.16736260056495667, 0.14936022460460663, 0.20199544727802277, 0.03141583874821663, 0.27050819993019104, 0.1934676468372345, 0.2271934449672699, 0.03594961017370224, 0.2808261811733246, 0.2326728105545044, 0.0248702485114336, 0.21394897997379303, 0.044156987220048904, 0.2345191240310669, 0.26368623971939087, 2.5596362320357002e-05, 1.626113589736633e-05, 4.3903899495489895e-05, 0.0002811194572132081, 8.014008017198648e-06, 0.031004969030618668, 0.04347359016537666], "count": [3153]}, "observation.state.tcp_pose": {"min": [0.3505357503890991, 0.19237180054187775, 0.93944251537323, -1.3596755266189575, 1.2181174755096436, -1.5708256959915161, 0.23280216753482819, -0.33310332894325256, 0.9405897259712219, -0.7110616564750671, 1.2178324460983276, 0.3424450159072876], "max": [0.40258392691612244, 0.24979354441165924, 1.063677430152893, -0.9079333543777466, 1.7613511085510254, -1.2290723323822021, 0.4728216528892517, -0.03633054718375206, 1.1439701318740845, 1.208862066268921, 1.9372252225875854, 1.36781644821167], "mean": [0.3819010257720947, 0.21877725422382355, 0.9959646463394165, -1.242976427078247, 1.6199878454208374, -1.4462673664093018, 0.3979256749153137, -0.1574152112007141, 1.0403482913970947, -0.1497572362422943, 1.6994863748550415, 0.7123630046844482], "std": [0.015366736799478531, 0.008684439584612846, 0.03403061255812645, 0.082997627556324, 0.08775293081998825, 0.052826546132564545, 0.05622818320989609, 0.06377734243869781, 0.04863142967224121, 0.30791857838630676, 0.12835054099559784, 0.16545233130455017], "count": [3153]}, "action.tcp_pose": {"min": [0.3505464792251587, 0.1923535317182541, 0.9393936395645142, -1.3597670793533325, 1.220457911491394, -1.5709367990493774, 0.23260629177093506, -0.34557679295539856, 0.9405872821807861, -0.7111821174621582, 1.217836856842041, 0.3423753082752228], "max": [0.40260782837867737, 0.24978582561016083, 1.0636042356491089, -0.9104613065719604, 1.7613651752471924, -1.2309070825576782, 0.4726213812828064, -0.036329854279756546, 1.1434203386306763, 1.2088515758514404, 1.9372297525405884, 1.360929012298584], "mean": [0.3819221258163452, 0.2188020795583725, 0.9959560632705688, -1.2429476976394653, 1.6199140548706055, -1.4462487697601318, 0.3979525566101074, -0.15761032700538635, 1.0407686233520508, -0.15046103298664093, 1.6976813077926636, 0.7123414874076843], "std": [0.015358148142695427, 0.008692487142980099, 0.03404279798269272, 0.08315738290548325, 0.08781779557466507, 0.052933063358068466, 0.05623882636427879, 0.06402479857206345, 0.04868856817483902, 0.3073353171348572, 0.13059379160404205, 0.1662502884864807], "count": [3153]}, "subtask_index": {"min": [54], "max": [1019], "mean": [963.7396130669204], "std": [159.31296080544976], "count": [3153]}, "observation.tactile": {"min": [-0.012670649215579033, -3.954321437049657e-05, -8.50040014483966e-05, -0.0015624472871422768, -8.476091170450673e-05, -0.00020894249610137194, -0.011015716008841991, -4.8030109610408545e-05, -0.00010938940977212042, -0.0009250469738617539, -4.63295764348004e-05, -0.00023446012346539646, -0.01162710227072239, -4.7392873966600746e-05, -0.00010490941349416971, -0.00099519407376647, -3.158403706038371e-05, -0.00023632468946743757, -0.013105690479278564, -3.356150409672409e-05, -7.210081093944609e-05, -0.0012728578876703978, -3.886162448907271e-05, -0.00029203222948126495, -0.005104619078338146, -4.665067535825074e-05, -0.00010454464791109785, -0.0018000819254666567, -1.2594017789524514e-05, -0.00012679667270276695, -4.948436260223389, -3.758351886062883e-05, -8.750631241127849e-05, -0.19168810546398163, -0.0010833735577762127, -0.08875671029090881, -9.587444305419922, -0.08994900435209274, -9.414483065484092e-05, -0.3431949317455292, -0.043434083461761475, -0.16458486020565033, -0.008523214608430862, -5.262686318019405e-05, -0.00011696510773617774, -0.0007731973892077804, -3.283296337031061e-06, -0.00018554928828962147, -0.010135548189282417, -5.431962927104905e-05, -0.00012131407856941223, -0.0014747163513675332, -4.423503196449019e-05, -0.00023253557446878403, -0.14279364049434662, -4.748033461510204e-05, -0.00010593971092021093, -0.0009208736009895802, -0.00018266741244588047, -0.0021094558760523796], "max": [0.010823996737599373, 0.022129978984594345, 0.06335052847862244, 1.6088354186649667e-06, 0.00027489144122228026, 0.00014260168245527893, 0.0003858747077174485, 0.015123238787055016, 0.043896548449993134, 1.8844152691599447e-06, 4.181063559371978e-05, 7.016133167780936e-06, 0.01528919953852892, 0.01646009087562561, 0.04989125579595566, 1.9795077150774887e-06, 0.0002815159095916897, 0.00021538430883083493, 0.019015837460756302, 0.022249985486268997, 0.06482957303524017, 1.341246274932928e-06, 0.00034535376471467316, 0.00026402200455777347, 0.0400521457195282, 0.029730794951319695, 0.09875472635030746, 1.959909013748984e-06, 0.0005600934964604676, 0.0005729821277782321, 4.755536079406738, 13.239457130432129, 11.464853286743164, 1.6066198895714479e-06, 0.031193504109978676, 0.07816656678915024, 3.1359643936157227, 11.48557186126709, 20.1602783203125, 1.7711320197122404e-06, 0.022113490849733353, 0.06693603843450546, 0.005386931821703911, 0.013844942674040794, 0.03985697776079178, 2.1566791019722586e-06, 0.00016670335025992244, 5.7045450375881046e-05, 0.030517639592289925, 0.025244589895009995, 0.07324399799108505, 2.207633997386438e-06, 0.0002542342117521912, 0.000373947957996279, 0.004919477738440037, 0.02311076410114765, 0.05952546373009682, 1.961139332706807e-06, 0.00013580010272562504, 6.057268183212727e-05], "mean": [-0.0005986846517771482, 0.001438087085261941, 0.0043749697506427765, -7.139320950955153e-05, -3.6708165680465754e-06, -6.553938419529004e-06, -1.967384378076531e-05, 0.0003965279902331531, 0.0011940340045839548, -2.414160917396657e-05, -1.4563000831913087e-06, -6.477882266153756e-07, 0.00010825152276083827, 0.0006708982400596142, 0.002045347588136792, -3.7752921343781054e-05, 4.378865924081765e-06, 1.195615368487779e-06, -0.00023701904865447432, 0.0017728493548929691, 0.005208210088312626, -9.271010640077293e-05, 1.0523809578444343e-05, -6.4429168560309336e-06, 0.0007584125269204378, 0.0010567842982709408, 0.003126004710793495, -4.9309943278785795e-05, 1.4266051948652603e-05, 8.582983355154283e-06, 1.0767749547958374, 2.5703017711639404, 4.932816028594971, -0.08017425239086151, 0.008431604132056236, 0.014445616863667965, -3.3235116004943848, 1.4937368631362915, 8.010461807250977, -0.12395750731229782, -0.006188566330820322, -0.050443366169929504, 0.0003777093661483377, 1.974744191102218e-05, 9.819856495596468e-05, -1.9564129161153687e-06, -1.3359559716263902e-06, 7.594857379444875e-06, 3.858290801872499e-05, 0.0009056161507032812, 0.0027402855921536684, -4.560875822789967e-05, 5.887903625989566e-06, -1.2038527756885742e-06, 0.00026804301887750626, 0.0017051497707143426, 0.004996811039745808, -0.00010274337546434253, 1.5165033801167738e-05, 2.2371258978637343e-07], "std": [0.0017395606264472008, 0.00276441709138453, 0.008237598463892937, 0.00015377686941064894, 2.1420346456579864e-05, 2.474614120728802e-05, 0.0011794823221862316, 0.001500354497693479, 0.004396920092403889, 8.963847358245403e-05, 4.352687028585933e-06, 2.401383244432509e-05, 0.0013267076574265957, 0.0018332022009417415, 0.005525148008018732, 0.0001051799554261379, 2.2513766452902928e-05, 2.286097515025176e-05, 0.0016948721604421735, 0.0030816697981208563, 0.009032433852553368, 0.000176563611603342, 3.351914347149432e-05, 3.084951458731666e-05, 0.0022262814454734325, 0.002702797995880246, 0.008163893595337868, 0.00013488611148204654, 4.4270433136262e-05, 2.677478732948657e-05, 1.2995643615722656, 2.370634078979492, 4.067504405975342, 0.06673859059810638, 0.008712721057236195, 0.021351194009184837, 3.0084173679351807, 1.8446599245071411, 6.711845874786377, 0.10740754008293152, 0.008731994777917862, 0.048744622617959976, 0.00027634852449409664, 0.0005521183484233916, 0.0016431905096396804, 3.219414429622702e-05, 6.3855891312414315e-06, 5.6111848607542925e-06, 0.0012041684240102768, 0.002413261216133833, 0.00712399510666728, 0.00013744259194936603, 1.6234247596003115e-05, 2.5401242965017445e-05, 0.0025882753543555737, 0.0027865373995155096, 0.008054659701883793, 0.00016711739590391517, 2.7341488021193072e-05, 3.900554293068126e-05], "count": [3153]}, "timestamp": {"min": [0.0], "max": [105.06666666666666], "mean": [52.533333333333324], "std": [30.339755119986396], "count": [3153]}, "frame_index": {"min": [0], "max": [3152], "mean": [1576.0], "std": [910.1926535995918], "count": [3153]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [3153]}, "index": {"min": [45489], "max": [48641], "mean": [47065.0], "std": [910.1926535995918], "count": [3153]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3153]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.568390965461731]], [[0.5685038566589355]], [[0.569282591342926]]], "std": [[[0.30576664209365845]], [[0.30560535192489624]], [[0.30623260140419006]]], "count": [3153]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30037549138069153]], [[0.304875910282135]], [[0.3039689064025879]]], "std": [[[0.18085622787475586]], [[0.1819532960653305]], [[0.18312019109725952]]], "count": [3153]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3102187514305115]], [[0.31361642479896545]], [[0.3114483058452606]]], "std": [[[0.18472245335578918]], [[0.18419495224952698]], [[0.1842273622751236]]], "count": [3153]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5739777088165283]], [[0.574246346950531]], [[0.5746816992759705]]], "std": [[[0.30929452180862427]], [[0.3089001476764679]], [[0.3097218871116638]]], "count": [3153]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6549019813537598]], [[0.6549019813537598]], [[0.6549019813537598]]], "mean": [[[0.00453751627355814]], [[0.00453751627355814]], [[0.00453751627355814]]], "std": [[[0.04181985184550285]], [[0.04181985184550285]], [[0.04181985184550285]]], "count": [3153]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49183371663093567]], [[0.49183371663093567]], [[0.49183371663093567]]], "std": [[[0.222328782081604]], [[0.222328782081604]], [[0.222328782081604]]], "count": [3153]}}}
+{"episode_index": 18, "stats": {"observation.state": {"min": [1.05020010471344, -0.9602622389793396, -0.22492341697216034, 1.2466461658477783, 4.9494850827613845e-05, -0.7688818573951721, 0.3537759780883789, 0.011403429321944714, -0.00010678001126507297, -0.22859397530555725, 0.005451043136417866, 0.003493862459436059, -0.0007747022900730371, -0.04341471940279007, 0.0034800346475094557, 0.000857136445119977, -0.0017633180832490325, -0.010875268839299679, 0.003070514416322112, 0.0008425034466199577, -0.003070846199989319, -0.02695021778345108, 0.0027879278641194105, 0.000812794198282063, 0.00533782783895731, -0.002996757859364152, -0.0038845501840114594, 0.0024081910960376263, 0.000846050854306668, 0.9172278046607971, -1.0701830387115479, -0.2434929609298706, 1.045584797859192, -1.7005850076675415, -0.7699997425079346, -0.3641219735145569, 0.0055977352894842625, -0.13291484117507935, -0.22618038952350616, -0.12577325105667114, 0.0032506324350833893, 0.0008676762809045613, -0.08766376227140427, 0.0035665479954332113, 0.0008132376242429018, 7.50662584323436e-05, -0.09312887489795685, 0.0033956486731767654, 0.0008797510527074337, -0.0010688339825719595, -0.12504178285598755, 0.004784471355378628, 0.001128954696469009, 0.006475607864558697, -0.0014657526044175029, -0.13932524621486664, 0.003240350168198347, 0.0013639688258990645, 0.5625874400138855, -1.1069588661193848, 0.543796181678772, -0.0013422331539914012, -9.58738019107841e-05, -0.02521480992436409, -0.775043785572052], "max": [1.2359362840652466, -0.7094319462776184, -0.000661049853079021, 1.5695399045944214, 0.20201100409030914, -0.03831692039966583, 0.6138239502906799, 1.3784780502319336, 0.2956371307373047, 0.0018929021898657084, 0.26926106214523315, 0.526579737663269, 0.5510745048522949, 0.06434126198291779, 0.045353200286626816, 0.04547080025076866, 0.3332102596759796, 0.17312754690647125, 0.04566202685236931, 0.03616956248879433, 0.11509062349796295, 0.19178712368011475, 0.014958653599023819, 0.017895661294460297, 0.24888384342193604, 0.09420212358236313, 0.25652503967285156, 0.014938442967832088, 0.017711196094751358, 1.383495569229126, -0.27177292108535767, -1.6777914879639866e-06, 1.7084126472473145, 0.11924459040164948, -0.09324601292610168, 0.6958383917808533, 1.3299500942230225, 0.2743200957775116, 0.31411832571029663, 0.2122582495212555, 0.5127018094062805, 1.008174180984497, 0.09484677761793137, 0.6782507300376892, 0.5970485210418701, 1.4630621671676636, 0.15286310017108917, 1.4590635299682617, 1.0791339874267578, 1.4085004329681396, 0.1689380705356598, 1.5473371744155884, 1.195243239402771, 0.2497326284646988, 1.3114051818847656, 0.2179395854473114, 1.467067003250122, 1.308160424232483, 0.5627791881561279, -1.106767177581787, 0.5441796779632568, 9.58738019107841e-05, 9.58738019107841e-05, 0.14793327450752258, -0.5599029660224915], "mean": [1.1753084659576416, -0.7754867672920227, -0.2225659042596817, 1.3339061737060547, 0.14910557866096497, -0.14381010830402374, 0.4025146961212158, 1.3442864418029785, 0.2872137129306793, -0.14900515973567963, 0.18791712820529938, 0.5143354535102844, 0.48752522468566895, 0.04984535276889801, 0.044248029589653015, 0.04187929630279541, 0.2655758261680603, 0.1453338861465454, 0.037908729165792465, 0.03090805374085903, 0.06960704177618027, 0.15491466224193573, 0.01072376687079668, 0.010699421167373657, 0.12760208547115326, 0.07106555253267288, 0.21126370131969452, 0.012486221268773079, 0.012985896319150925, 1.214982271194458, -0.6027365326881409, -0.21660062670707703, 1.281343698501587, -1.2890232801437378, -0.389964759349823, 0.028835354372859, 1.2328847646713257, 0.09462027996778488, -0.009282665327191353, -0.0313728041946888, 0.14728489518165588, 0.7820447087287903, 0.0400916151702404, 0.2770232856273651, 0.2342657446861267, 1.1524678468704224, -0.045552682131528854, 1.3121562004089355, 0.8388172388076782, 1.2345582246780396, -0.08052994310855865, 1.4080368280410767, 0.8426682353019714, 0.028132067993283272, 1.1558682918548584, -0.09574802964925766, 1.0313007831573486, 1.2442859411239624, 0.5626968145370483, -1.1068618297576904, 0.5440298914909363, -0.0009021854493767023, -3.886250610207753e-08, 0.1028357744216919, -0.7327057719230652], "std": [0.04204340651631355, 0.04632968083024025, 0.01889817602932453, 0.06690846383571625, 0.046523258090019226, 0.10158775746822357, 0.048306189477443695, 0.11923439055681229, 0.028590356931090355, 0.027178151533007622, 0.021782413125038147, 0.05143016576766968, 0.06910291314125061, 0.012334185652434826, 0.005802976433187723, 0.005716586019843817, 0.0658821240067482, 0.034672774374485016, 0.008689028210937977, 0.006658297032117844, 0.0382852628827095, 0.037322819232940674, 0.005297664552927017, 0.005911945831030607, 0.08249669522047043, 0.02338661625981331, 0.040184952318668365, 0.003604862140491605, 0.0035210130736231804, 0.11691921204328537, 0.17539697885513306, 0.022944064810872078, 0.18715326488018036, 0.32789871096611023, 0.160502627491951, 0.2041776180267334, 0.14614452421665192, 0.07257869094610214, 0.10214322805404663, 0.06467233598232269, 0.10344064235687256, 0.16608795523643494, 0.028626471757888794, 0.1643526256084442, 0.12369506061077118, 0.22664888203144073, 0.025454243645071983, 0.29602715373039246, 0.202236607670784, 0.2571943700313568, 0.038240157067775726, 0.3149925172328949, 0.22991250455379486, 0.030965574085712433, 0.24081015586853027, 0.04555030167102814, 0.24892744421958923, 0.2726644277572632, 3.2122014090418816e-05, 4.310319127398543e-05, 6.007536649121903e-05, 0.00022906747472006828, 3.343118351040175e-06, 0.030873741954565048, 0.038541533052921295], "count": [2467]}, "observation.state.joint_torque": {"min": [-29.917499542236328, -1.8960000276565552, -17.170000076293945, -7.5980000495910645, -0.1128000020980835, -0.9815999865531921, 0.995199978351593, -0.517052173614502, -0.3451259434223175, -0.4237571656703949, -0.35292384028434753, -0.0879935771226883, -0.42504268884658813, -0.5113944411277771, -0.09463459998369217, -0.039242662489414215, -0.45574551820755005, -0.27152836322784424, -0.10957689583301544, -0.03139413148164749, -0.2811230421066284, -0.4854889214038849, -0.021583328023552895, -0.032821137458086014, -0.10643186420202255, -0.2321903556585312, -0.49796193838119507, -0.09131408482789993, -0.03139413148164749, 12.967499732971191, -6.490499973297119, 1.7690000534057617, -11.305000305175781, -2.060800075531006, -2.683199882507324, -3.414400100708008, -1.09650719165802, -0.8418017029762268, -0.4734647274017334, -1.3682012557983398, -0.16436536610126495, -0.5113944411277771, -1.079397201538086, -0.1959102302789688, -0.0699232965707779, -0.5325026512145996, -0.5123538970947266, -0.3453332483768463, -0.08776086568832397, -0.32813677191734314, -0.3290962278842926, -0.40178200602531433, -0.04709119349718094, -0.156129390001297, -0.39625874161720276, -0.40873175859451294, -0.3171089291572571, -0.08633385598659515, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-19.3799991607666, 7.564499855041504, -11.116999626159668, 0.17599999904632568, 1.6375999450683594, 0.9735999703407288, 2.6368000507354736, 0.7271842360496521, 0.12098511308431625, 0.2634502053260803, 0.3516811728477478, 0.10293588042259216, 0.4691779911518097, 0.29263657331466675, 0.09131408482789993, 0.019264578819274902, 0.3597990870475769, 0.22355516254901886, 0.12949997186660767, 0.022832093760371208, 0.2840014100074768, 0.3550017476081848, 0.08965382725000381, 0.015697065740823746, 0.0725671797990799, 0.21204160153865814, 0.42696160078048706, 0.06641025096178055, 0.014270060695707798, 38.32500076293945, 12.088500022888184, 20.04400062561035, 1.6990000009536743, 0.4903999865055084, 3.271199941635132, 1.1607999801635742, 2.834872245788574, 4.740069389343262, 2.153581142425537, 1.380627989768982, 0.5960319638252258, 2.1424834728240967, 0.2225956916809082, 1.0609036684036255, 0.21405088901519775, 0.3454071283340454, 0.2955150008201599, 0.21583329141139984, 0.039242662489414215, 0.3645963966846466, 0.22547410428524017, 0.29718583822250366, 0.050658710300922394, 0.1262229084968567, 0.5459351539611816, 0.4499887228012085, 0.20089100301265717, 0.04066966846585274, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.809728622436523, 2.6201183795928955, -13.922755241394043, -2.0546817779541016, 0.24705056846141815, -0.3108616769313812, 1.6598418951034546, -0.0016565624391660094, -0.0025568653363734484, 0.010332928970456123, 4.98645385960117e-05, 0.00021670210117008537, -0.004070426803082228, 0.0035360639449208975, 0.00010229329927824438, -0.00022674756473861635, 0.02052057906985283, 0.0021697634365409613, 0.0018062954768538475, 0.00023484500707127154, 0.03811807930469513, 0.040442343801259995, 0.0010633186902850866, -0.0004534949839580804, -0.004564862232655287, 0.015365445986390114, -0.008786452002823353, 0.001114465994760394, -0.00010932488657999784, 27.16535186767578, 1.0129809379577637, 12.521499633789062, -2.116316556930542, -0.5300723314285278, 1.5094287395477295, -1.0046110153198242, 0.5077518224716187, 1.3591244220733643, 0.3374042510986328, 0.06211944669485092, 0.1239384189248085, 0.6768475770950317, -0.3116493225097656, 0.4477519690990448, 0.1065506860613823, -0.028213398531079292, -0.031168358400464058, 0.00012652274745050818, -0.0013347449712455273, -0.013169958256185055, -0.012324456125497818, 0.0002005528222071007, -0.0033491761423647404, 0.0008765714592300355, -0.0312364362180233, -0.0024190819822251797, -0.016945790499448776, 0.0030266819521784782, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7365819811820984, 0.7771918177604675, 0.4868675768375397, 0.6106333136558533, 0.19417600333690643, 0.3317842483520508, 0.17661228775978088, 0.04180770739912987, 0.022623185068368912, 0.062178101390600204, 0.062067028135061264, 0.008921441622078419, 0.06026158109307289, 0.04936334863305092, 0.007462510373443365, 0.003629249520599842, 0.062076423317193985, 0.046020615845918655, 0.012944615446031094, 0.003702764632180333, 0.06754880398511887, 0.08663307130336761, 0.007870014756917953, 0.004353698343038559, 0.015490705147385597, 0.03527533635497093, 0.0735335722565651, 0.006254895124584436, 0.0035481296945363283, 4.344719886779785, 2.313978910446167, 1.7476327419281006, 1.7290223836898804, 0.3143223226070404, 0.6932316422462463, 0.5151253938674927, 0.7727582454681396, 1.408388376235962, 0.4499955177307129, 0.29638049006462097, 0.14558395743370056, 0.7116793990135193, 0.35913923382759094, 0.4362146854400635, 0.09580755978822708, 0.09248923510313034, 0.0727589875459671, 0.024994108825922012, 0.009475130587816238, 0.07748879492282867, 0.05357243865728378, 0.026356801390647888, 0.008992956951260567, 0.016332196071743965, 0.12974025309085846, 0.09283760190010071, 0.03603057935833931, 0.005251972004771233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2467]}, "observation.state.tcp": {"min": [0.36086544394493103, 0.19192858040332794, 0.9630334973335266, -1.4109214544296265, 1.2185956239700317, -1.5315651893615723, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24281857907772064, -0.2890629172325134, 0.9397245645523071, -0.7163087129592896, 1.2178363800048828, 0.3851284980773926, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.3975445032119751, 0.26665985584259033, 1.0603729486465454, -1.1014593839645386, 1.6896322965621948, -1.2059272527694702, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.462760865688324, -0.025838596746325493, 1.1354480981826782, 1.208850622177124, 1.887911319732666, 1.3787436485290527, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.38673070073127747, 0.2315262109041214, 1.009772777557373, -1.3185601234436035, 1.568162441253662, -1.4911751747131348, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3941369950771332, -0.14755922555923462, 1.0393739938735962, -0.1630757749080658, 1.6849260330200195, 0.723157525062561, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008688881061971188, 0.012192629277706146, 0.022750556468963623, 0.06840605288743973, 0.07530680298805237, 0.03951818123459816, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05694573000073433, 0.06403756886720657, 0.04880909621715546, 0.327069491147995, 0.13369283080101013, 0.16832087934017181, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2467]}, "action": {"min": [1.050343632698059, -0.9602751135826111, -0.22491994500160217, 1.2465909719467163, 0.0001358633890049532, -0.7684493660926819, 0.35378292202949524, 0.0, 0.0, -0.22932681441307068, 0.0, 0.0, 0.0, -0.0462694987654686, 0.0, 0.0, 0.0, -0.01897035352885723, 0.0, 0.0, 0.0, -0.03681502863764763, 0.0, 0.0, 0.0, 0.0, -0.01943914033472538, 0.0, 0.0, 0.9172288179397583, -1.0702672004699707, -0.24348589777946472, 1.0455716848373413, -1.7005811929702759, -0.7699999809265137, -0.364222913980484, 0.0, -0.1333151012659073, -0.2256167232990265, -0.12576588988304138, 0.0, 0.0, -0.09615853428840637, 0.0, 0.0, 0.0, -0.09701503813266754, 0.0, 0.0, 0.0, -0.12682366371154785, 0.0, 0.0, 0.0, 0.0, -0.1430569887161255, 0.0, 0.0, 0.5625874400138855, -1.1068999767303467, 0.5439889430999756, -0.0013661824632436037, -1.4127859685686417e-05, -0.025687122717499733, -0.7750533819198608], "max": [1.235933780670166, -0.709434449672699, -0.0019351394148543477, 1.5691547393798828, 0.20200493931770325, -0.038324467837810516, 0.6138620376586914, 1.3879468441009521, 0.29239052534103394, 0.0, 0.2753905951976776, 0.5329920649528503, 0.5607979893684387, 0.06324658542871475, 0.05487287789583206, 0.04672135412693024, 0.3430820107460022, 0.1746000349521637, 0.05107840895652771, 0.039729636162519455, 0.12106960266828537, 0.19804079830646515, 0.02188780903816223, 0.019872259348630905, 0.26180002093315125, 0.09474451094865799, 0.25795498490333557, 0.01956913247704506, 0.018808454275131226, 1.3834950923919678, -0.2717905342578888, -1.5717696190868966e-18, 1.7085862159729004, 0.11933273077011108, -0.09317031502723694, 0.6970965266227722, 1.3620842695236206, 0.290449321269989, 0.3185119926929474, 0.23383717238903046, 0.5155463218688965, 1.0236968994140625, 0.07834009826183319, 0.6834967136383057, 0.6570998430252075, 1.4821557998657227, 0.15515564382076263, 1.4626119136810303, 1.0805747509002686, 1.4108805656433105, 0.17625826597213745, 1.5507402420043945, 1.196016788482666, 0.26180002093315125, 1.3188554048538208, 0.24346832931041718, 1.4695701599121094, 1.451569676399231, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 1.7053493166104202e-20, 1.6865686120581813e-05, 0.14799241721630096, -0.5591710209846497], "mean": [1.1753606796264648, -0.7755218148231506, -0.22258636355400085, 1.333949089050293, 0.14911304414272308, -0.1439456045627594, 0.4025266468524933, 1.3532227277755737, 0.2874627113342285, -0.1452428698539734, 0.18888206779956818, 0.519422709941864, 0.48906394839286804, 0.051524631679058075, 0.04610864818096161, 0.04273016378283501, 0.272030770778656, 0.14666256308555603, 0.043012943118810654, 0.03421441465616226, 0.07015359401702881, 0.16153565049171448, 0.013987003825604916, 0.012955457903444767, 0.13078323006629944, 0.07345831394195557, 0.2128489911556244, 0.01667136140167713, 0.016101248562335968, 1.2157588005065918, -0.6034423112869263, -0.21659964323043823, 1.2819488048553467, -1.2890905141830444, -0.390406996011734, 0.02893540821969509, 1.234691858291626, 0.09919901192188263, -0.009603852406144142, -0.032299626618623734, 0.14835494756698608, 0.7900360226631165, 0.03329324349761009, 0.28056445717811584, 0.24247129261493683, 1.1523005962371826, -0.045421574264764786, 1.3107998371124268, 0.8386296033859253, 1.2341110706329346, -0.08076921850442886, 1.408105492591858, 0.8425247669219971, 0.031447988003492355, 1.1550036668777466, -0.09595606476068497, 1.0297002792358398, 1.3335018157958984, 0.5626986622810364, -1.1068638563156128, 0.5440759658813477, -0.0009481642046011984, 3.4766907219818677e-07, 0.1028965413570404, -0.7327749133110046], "std": [0.04201832413673401, 0.04636799544095993, 0.01886131800711155, 0.06696103513240814, 0.04651699587702751, 0.1019434779882431, 0.04830523952841759, 0.13442818820476532, 0.032509833574295044, 0.03016798198223114, 0.02586732991039753, 0.05888131260871887, 0.070610411465168, 0.012158594094216824, 0.006370321847498417, 0.005764412228018045, 0.06779348105192184, 0.03372804448008537, 0.008641621097922325, 0.007018611300736666, 0.038442231714725494, 0.039183977991342545, 0.007239974103868008, 0.006566590629518032, 0.08717019110918045, 0.023278314620256424, 0.04235853999853134, 0.00416664918884635, 0.004003243520855904, 0.11682752519845963, 0.17583824694156647, 0.023018168285489082, 0.18740567564964294, 0.3278108239173889, 0.16057971119880676, 0.20448406040668488, 0.15522238612174988, 0.07628412544727325, 0.10215214639902115, 0.065125472843647, 0.10508386045694351, 0.17053326964378357, 0.023227430880069733, 0.16542281210422516, 0.13222865760326385, 0.22291764616966248, 0.026812534779310226, 0.295529842376709, 0.2020615041255951, 0.2522488534450531, 0.0383354052901268, 0.3141653537750244, 0.2295440286397934, 0.03393632546067238, 0.23632004857063293, 0.04667935520410538, 0.24672511219978333, 0.29333290457725525, 1.609471655683592e-05, 3.5574805679061683e-06, 4.379746678750962e-05, 0.00022503921354655176, 6.829344329162268e-06, 0.030908526852726936, 0.038595493882894516], "count": [2467]}, "observation.state.tcp_pose": {"min": [0.36086544394493103, 0.19192858040332794, 0.9630334973335266, -1.4109214544296265, 1.2185956239700317, -1.5315651893615723, 0.24281857907772064, -0.2890629172325134, 0.9397245645523071, -0.7163087129592896, 1.2178363800048828, 0.3851284980773926], "max": [0.3975445032119751, 0.26665985584259033, 1.0603729486465454, -1.1014593839645386, 1.6896322965621948, -1.2059272527694702, 0.462760865688324, -0.025838596746325493, 1.1354480981826782, 1.208850622177124, 1.887911319732666, 1.3787436485290527], "mean": [0.38673070073127747, 0.2315262109041214, 1.009772777557373, -1.3185601234436035, 1.568162441253662, -1.4911751747131348, 0.3941369950771332, -0.14755922555923462, 1.0393739938735962, -0.1630757749080658, 1.6849260330200195, 0.723157525062561], "std": [0.008688881061971188, 0.012192629277706146, 0.022750556468963623, 0.06840605288743973, 0.07530680298805237, 0.03951818123459816, 0.05694573000073433, 0.06403756886720657, 0.04880909621715546, 0.327069491147995, 0.13369283080101013, 0.16832087934017181], "count": [2467]}, "action.tcp_pose": {"min": [0.3609130084514618, 0.19243362545967102, 0.9629923105239868, -1.4108822345733643, 1.21921706199646, -1.5314222574234009, 0.2428581267595291, -0.29437118768692017, 0.9397329092025757, -0.7164623141288757, 1.217836856842041, 0.38534125685691833], "max": [0.3974878191947937, 0.2666276693344116, 1.060316562652588, -1.1025301218032837, 1.6896028518676758, -1.2060812711715698, 0.4627259075641632, -0.025791894644498825, 1.1362602710723877, 1.2088515758514404, 1.8880630731582642, 1.3784188032150269], "mean": [0.3867414593696594, 0.23154295980930328, 1.0097572803497314, -1.3186054229736328, 1.5680794715881348, -1.4910869598388672, 0.3941993713378906, -0.14776833355426788, 1.0397872924804688, -0.16321325302124023, 1.6836791038513184, 0.7229232788085938], "std": [0.008684903383255005, 0.01217468362301588, 0.02276412770152092, 0.06843947619199753, 0.07545270770788193, 0.039746832102537155, 0.05688116326928139, 0.06431763619184494, 0.048931784927845, 0.3270759880542755, 0.13480858504772186, 0.16829265654087067], "count": [2467]}, "subtask_index": {"min": [54], "max": [1076], "mean": [1018.8804215646534], "std": [161.99777271355129], "count": [2467]}, "observation.tactile": {"min": [-0.01822064444422722, -4.1432573198108e-05, -9.055966802407056e-05, -0.0012773640919476748, -6.457477138610557e-05, -0.0003736183571163565, -0.005813708528876305, -5.1849023293470964e-05, -0.00011955103400396183, -0.0005829865694977343, -1.2448846064216923e-05, -0.00012376693484839052, -0.01116963941603899, -4.7403907956322655e-05, -0.00010516065231058747, -0.0019126662518829107, -3.9592785469722e-05, -0.00025086605455726385, -0.016652842983603477, -3.1452509574592113e-05, -6.824628508184105e-05, -0.0015263964887708426, -1.8487804481992498e-05, -0.0003843618032988161, -0.010844741016626358, -4.923267988488078e-05, -0.0001108963115257211, -0.0013568204594776034, -4.8537174734519795e-05, -0.000242523368797265, -5.51280403137207, -4.124912084080279e-05, -9.470865916227922e-05, -0.17961126565933228, -0.010672940872609615, -0.06546436250209808, -5.500842571258545, -0.0250812117010355, -9.406983735971153e-05, -0.23192930221557617, -0.03584170341491699, -0.09793157130479813, -0.0068629649467766285, -5.082517600385472e-05, -0.00011228023504372686, -0.0011913408525288105, -2.9791315682814457e-05, -0.00015471359074581414, -0.007751473691314459, -5.9337864513508976e-05, -0.00013467189273796976, -0.0007022044155746698, -3.788391768466681e-05, -0.00017400905198883265, -0.0762757733464241, -4.3043553887400776e-05, -9.635146125219762e-05, -0.001491622650064528, -0.00012699079525191337, -0.0011756146559491754], "max": [0.0013760055880993605, 0.02076837234199047, 0.06877543777227402, 1.7108013707911596e-06, 0.00019467892707325518, 6.6995739871344995e-06, 0.0026877454947680235, 0.010198676027357578, 0.029384717345237732, 2.0454006062209373e-06, 0.00017255831335205585, 7.377937436103821e-06, 0.012144209817051888, 0.03161296993494034, 0.09026778489351273, 1.9656770291476278e-06, 0.00031678052619099617, 0.00013131136074662209, 0.0047529954463243484, 0.02417767234146595, 0.07158215343952179, 1.2615095101864426e-06, 0.00027340621454641223, 4.888434705208056e-05, 0.0042622508481144905, 0.02163717895746231, 0.0636368915438652, 2.0822699298150837e-06, 0.0001452704455005005, 2.3857188352849334e-05, 5.198759078979492, 10.382586479187012, 10.180425643920898, 1.7265979295189027e-06, 0.022199729457497597, 0.06854545325040817, 0.001270993147045374, 5.327219486236572, 12.932819366455078, 1.7786919670470525e-06, 0.0010868136305361986, 8.455127681372687e-05, 0.002704082289710641, 0.01977817341685295, 0.05595152825117111, 2.0632112409657566e-06, 0.00014349256525747478, 1.752139360178262e-05, 0.019775832071900368, 0.013925648294389248, 0.0463247150182724, 2.4577643671364058e-06, 0.00023889532894827425, 0.00023209709615912288, 0.009177641943097115, 0.023562127724289894, 0.0697246715426445, 1.8099315184372244e-06, 0.00024065138131845742, 0.00010306983313057572], "mean": [-0.0003314980713184923, 0.0016923167277127504, 0.005058109760284424, -6.52530652587302e-05, 1.3787566786049865e-05, -7.700875357841142e-06, 0.00022538198390975595, 0.00018298000213690102, 0.0005732918507419527, -9.842332474363502e-06, -4.340358543686307e-07, 4.150747827225132e-06, -0.00037307009915821254, 0.003189629875123501, 0.009378579445183277, -0.00017971263150684536, 2.2276173694990575e-05, -1.4459423255175352e-05, -0.001114011276513338, 0.002788031939417124, 0.008200044743716717, -0.00015334889758378267, 1.7154983652289957e-05, -2.78862462437246e-05, -0.0009090682724490762, 0.002647728193551302, 0.00779791921377182, -0.00012416137906257063, 1.1147897566843312e-05, -1.6811914974823594e-05, 0.8456112742424011, 2.336905002593994, 4.234894752502441, -0.06436895579099655, 0.00486085657030344, 0.010105112567543983, -1.9303606748580933, 0.9079344272613525, 4.750854969024658, -0.07950038462877274, -0.0069688428193330765, -0.031122909858822823, 0.0003182912478223443, 0.0001877775212051347, 0.0005819942452944815, -1.0833092346729245e-05, 8.329412537477765e-08, 5.9698327277146745e-06, 0.00026552591589279473, 0.00043153841397725046, 0.0013324045576155186, -1.8805380022968166e-05, 2.808463477776968e-06, 4.503825039137155e-06, -0.0002324204979231581, 0.002177290851250291, 0.006335106212645769, -0.0001359846501145512, 9.13030635274481e-06, -8.651908501633443e-06], "std": [0.0010963365202769637, 0.0026824972592294216, 0.007836698554456234, 0.00010767425555968657, 2.905187284341082e-05, 2.2706813979311846e-05, 0.0004447326064109802, 0.0007849278626963496, 0.002307821996510029, 4.187846934655681e-05, 7.332002951443428e-06, 9.389696060679853e-06, 0.0015780521789565682, 0.004800508264452219, 0.013977639377117157, 0.00027832668274641037, 4.147786239627749e-05, 3.458962237345986e-05, 0.0022141379304230213, 0.004196834750473499, 0.012270642444491386, 0.0002521994465496391, 2.6968205929733813e-05, 5.277317904983647e-05, 0.001443494693376124, 0.0033654042053967714, 0.009857801720499992, 0.0001627781894057989, 1.7475751519668847e-05, 2.8206488423165865e-05, 1.5822936296463013, 2.2133517265319824, 3.7075226306915283, 0.05784889683127403, 0.006645966786891222, 0.023779289796948433, 1.799725890159607, 0.9800034761428833, 4.269594192504883, 0.07053089141845703, 0.007796304300427437, 0.02938520535826683, 0.00037511068512685597, 0.001178109785541892, 0.003402212169021368, 6.693194882245734e-05, 1.1233528312004637e-05, 9.339821190224029e-06, 0.0006332756020128727, 0.0012440681457519531, 0.003744362620636821, 5.886592043680139e-05, 1.4027878023625817e-05, 1.2271786545170471e-05, 0.00238369544968009, 0.0034030242823064327, 0.009823114611208439, 0.00021468928025569767, 2.4343964469153434e-05, 3.9556820411235094e-05], "count": [2467]}, "timestamp": {"min": [0.0], "max": [82.2], "mean": [41.099999999999994], "std": [23.738716617935914], "count": [2467]}, "frame_index": {"min": [0], "max": [2466], "mean": [1233.0], "std": [712.1614985380774], "count": [2467]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [2467]}, "index": {"min": [48642], "max": [51108], "mean": [49875.0], "std": [712.1614985380774], "count": [2467]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2467]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5682934522628784]], [[0.5684303045272827]], [[0.5691173076629639]]], "std": [[[0.3068508505821228]], [[0.30665645003318787]], [[0.3072011470794678]]], "count": [2467]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3003329932689667]], [[0.3051643371582031]], [[0.3039249777793884]]], "std": [[[0.18089325726032257]], [[0.18202374875545502]], [[0.183259055018425]]], "count": [2467]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31019002199172974]], [[0.3142450749874115]], [[0.3117233216762543]]], "std": [[[0.18517927825450897]], [[0.18484948575496674]], [[0.18475653231143951]]], "count": [2467]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5727901458740234]], [[0.5731000900268555]], [[0.5734791159629822]]], "std": [[[0.3094683885574341]], [[0.3090183138847351]], [[0.30979228019714355]]], "count": [2467]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5607843399047852]], [[0.5607843399047852]], [[0.5607843399047852]]], "mean": [[[0.0036853249184787273]], [[0.0036853249184787273]], [[0.0036853249184787273]]], "std": [[[0.03680795431137085]], [[0.03680795431137085]], [[0.03680795431137085]]], "count": [2467]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4918994903564453]], [[0.4918994903564453]], [[0.4918994903564453]]], "std": [[[0.2224140167236328]], [[0.2224140167236328]], [[0.2224140167236328]]], "count": [2467]}}}
+{"episode_index": 19, "stats": {"observation.state": {"min": [1.0513664484024048, -0.8158658146858215, -0.22444704174995422, 1.166368007659912, -0.051730863749980927, -0.766713559627533, 0.22656919062137604, 0.006893550977110863, -0.00020886282436549664, -0.2399241030216217, 0.005484756547957659, 0.003500953782349825, 0.0036625410430133343, -0.05777517706155777, 0.003489607712253928, 0.0008354087476618588, -0.003265867941081524, -0.0632128044962883, 0.006831008475273848, 0.0008540325216017663, -0.0032111629843711853, -0.026918571442365646, 0.006808670703321695, 0.0008469377062283456, 0.005662143230438232, -0.0028336241375654936, -0.02603372372686863, 0.002305013360455632, 0.0008425034466199577, 0.9158807992935181, -1.115844488143921, -0.24341675639152527, 1.024895429611206, -1.7377718687057495, -0.7698790431022644, -0.335329532623291, 0.005605504382401705, -0.07246862351894379, -0.2139291763305664, -0.14571653306484222, 0.0032559509854763746, 0.007133982144296169, -0.16387823224067688, 0.0035456286277621984, 0.0008500416879542172, 0.00010769275831989944, -0.10923201590776443, 0.003422240726649761, 0.0012101010652258992, -0.0020719238091260195, -0.14161568880081177, 0.003547756001353264, 0.0008221060270443559, 0.006368573289364576, -0.0010509239509701729, -0.15896829962730408, 0.0031970932614058256, 0.0008717693854123354, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0012463594321161509, -9.58738019107841e-05, 9.58738019107841e-05, -0.7478156089782715], "max": [1.2906076908111572, -0.6475341320037842, -0.002779141766950488, 1.5677434206008911, 0.08976233005523682, 0.040557969361543655, 0.5777105093002319, 1.3559490442276, 0.2920134663581848, 0.001843657111749053, 0.2731788754463196, 0.562309741973877, 0.43644729256629944, 0.07679855078458786, 0.03781802952289581, 0.03615182638168335, 0.25648874044418335, 0.17671453952789307, 0.040989238768815994, 0.031516727060079575, 0.0363042913377285, 0.1912996768951416, 0.006861500907689333, 0.0037699814420193434, 0.24091508984565735, 0.10542744398117065, 0.25018736720085144, 0.018782613798975945, 0.01767927035689354, 1.3483734130859375, -0.2799431085586548, -7.514109165640548e-05, 1.7886834144592285, 0.09635185450315475, -0.16942517459392548, 0.69817054271698, 1.3494453430175781, 0.2572900056838989, 0.317920982837677, 0.1903764307498932, 0.508751630783081, 1.1171340942382812, 0.10124142467975616, 0.6627418398857117, 0.4441545307636261, 1.4175398349761963, 0.18484202027320862, 1.4783233404159546, 1.0452829599380493, 1.4316580295562744, 0.1908031702041626, 1.5509300231933594, 1.1197354793548584, 0.15648280084133148, 1.314958930015564, 0.22192521393299103, 1.4326151609420776, 1.3103125095367432, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.15867114067077637, -0.5873228907585144], "mean": [1.2255542278289795, -0.7073023915290833, -0.22202377021312714, 1.2615270614624023, 0.03286365047097206, -0.07034838199615479, 0.33223405480384827, 1.3054786920547485, 0.28604525327682495, -0.17892269790172577, 0.23773857951164246, 0.5504224300384521, 0.39737266302108765, 0.06934487074613571, 0.03313242644071579, 0.03422961011528969, 0.22943954169750214, 0.16001112759113312, 0.03944830596446991, 0.02872444875538349, 0.028959745541214943, 0.1713680922985077, 0.006835408508777618, 0.0030856532976031303, 0.14178617298603058, 0.08853039890527725, 0.21621346473693848, 0.015606987290084362, 0.016149427741765976, 1.2154685258865356, -0.6206094026565552, -0.22002606093883514, 1.2916821241378784, -1.3550556898117065, -0.4241633415222168, 0.020798325538635254, 1.2000916004180908, 0.08630182594060898, 0.012667055241763592, -0.03828827664256096, 0.13561992347240448, 0.8091133832931519, 0.04605676978826523, 0.22717928886413574, 0.22426804900169373, 1.1784164905548096, -0.04937261715531349, 1.3320027589797974, 0.8582431674003601, 1.287729263305664, -0.0895037055015564, 1.3883060216903687, 0.8391487002372742, 0.027485575526952744, 1.190738320350647, -0.1050257757306099, 1.0261683464050293, 1.2466018199920654, 0.5626955032348633, -1.1068615913391113, 0.54400634765625, -0.0008921748958528042, -3.984779795018767e-08, 0.12363884598016739, -0.7113767862319946], "std": [0.05421474948525429, 0.0421660840511322, 0.018916215747594833, 0.08297835290431976, 0.02074160799384117, 0.12575238943099976, 0.06595350801944733, 0.12312464416027069, 0.029032547026872635, 0.026907941326498985, 0.023858370259404182, 0.0580635592341423, 0.05797509104013443, 0.016209246590733528, 0.004554998129606247, 0.004717904143035412, 0.04738929495215416, 0.034323420375585556, 0.006663467735052109, 0.005510435439646244, 0.007612708490341902, 0.03654584661126137, 7.741298759356141e-06, 0.0004474144661799073, 0.0307704359292984, 0.020991196855902672, 0.039696577936410904, 0.0029328367672860622, 0.0032479159999638796, 0.10187248885631561, 0.16983115673065186, 0.02383418194949627, 0.18553279340267181, 0.3270072638988495, 0.11250590533018112, 0.17528784275054932, 0.15062960982322693, 0.057189732789993286, 0.07909207791090012, 0.06069670245051384, 0.08911147713661194, 0.19463591277599335, 0.03588706627488136, 0.15762212872505188, 0.11559498310089111, 0.23587918281555176, 0.02811320312321186, 0.2919411063194275, 0.1995324343442917, 0.26512736082077026, 0.03844162076711655, 0.3065663278102875, 0.2167271375656128, 0.012282759882509708, 0.24512501060962677, 0.04420718178153038, 0.2434741109609604, 0.2695724070072174, 3.3191961847478524e-05, 4.21034092141781e-05, 5.873951158719137e-05, 0.00016930318088270724, 4.3702007133106235e-06, 0.027140334248542786, 0.030635470524430275], "count": [2406]}, "observation.state.joint_torque": {"min": [-31.36949920654297, -0.8684999942779541, -16.945999145507812, -6.105999946594238, -0.40639999508857727, -0.6776000261306763, 1.332800030708313, -0.7144489288330078, -0.2547055184841156, -0.45482438802719116, -0.2895466685295105, -0.0879935771226883, -0.3972181975841522, -0.715760350227356, -0.0879935771226883, -0.039956167340278625, -0.33293408155441284, -0.3242989182472229, -0.09961536526679993, -0.032821137458086014, -0.1986091136932373, -0.5257863998413086, -0.004980768077075481, -0.03638865053653717, -0.13281993567943573, -0.19285231828689575, -0.5823948383331299, -0.13116022944450378, -0.032821137458086014, 10.633500099182129, -4.635000228881836, 0.19499999284744263, -8.060999870300293, -1.9808000326156616, -3.7272000312805176, -3.2720000743865967, -1.349939227104187, -0.7068077325820923, -0.4287278950214386, -0.7431283593177795, -0.24405762553215027, -0.7368685007095337, -1.0630863904953003, -0.26066020131111145, -0.06706927716732025, -1.5888727903366089, -1.0976271629333496, -0.10957689583301544, -0.0642152652144432, -0.378028929233551, -0.3693937361240387, -0.11289741843938828, -0.04709119349718094, -0.1855960488319397, -0.4048939049243927, -0.4327183663845062, -0.29552558064460754, -0.08062583953142166, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.697999954223633, 8.906999588012695, -11.987000465393066, 0.6949999928474426, 1.3791999816894531, 1.236799955368042, 2.5095999240875244, 0.28527015447616577, 0.22159379720687866, 0.4510962963104248, 0.39890334010124207, 0.11787818372249603, 0.36075857281684875, 0.39146143198013306, 0.10791664570569992, 0.016410568729043007, 0.35692068934440613, 0.3031907081604004, 0.1145576685667038, 0.021405089646577835, 0.3012717664241791, 0.4116101562976837, 0.0033205123618245125, 0.00856203492730856, 0.08224280178546906, 0.2369876652956009, 0.3741910457611084, 0.10293588042259216, 0.013556556776165962, 37.58700180053711, 8.892000198364258, 20.945999145507812, 1.2419999837875366, 0.3424000144004822, 3.319200038909912, 0.7864000201225281, 2.4477198123931885, 4.6560163497924805, 2.414545774459839, 1.4054819345474243, 0.6159550547599792, 2.149199962615967, 0.5574487447738647, 1.0559228658676147, 0.21547789871692657, 0.8260986804962158, 0.33005571365356445, 0.27062171697616577, 0.11130645871162415, 0.9249235391616821, 0.2983933985233307, 0.24903841316699982, 0.05922074615955353, 0.11830649524927139, 0.5382594466209412, 0.39913710951805115, 0.18926919996738434, 0.07919883728027344, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.36865234375, 1.8507410287857056, -14.039403915405273, -1.6240352392196655, -0.04086676985025406, -0.1337006688117981, 1.7123451232910156, 0.0013979163486510515, -0.0029202201403677464, 0.014742890372872353, 0.0023087335284799337, 0.0013662991113960743, 0.014227288775146008, 0.007499841507524252, 0.0009391573257744312, 0.0008683031192049384, 0.002113931579515338, 0.00507046515122056, 0.00020149433112237602, -0.0002835032937582582, 0.010891863144934177, 0.009903660044074059, 6.900484663674433e-07, -0.0004243652510922402, -0.004490308463573456, 0.006896468345075846, -0.008084053173661232, 0.0008570399950258434, -2.9061138775432482e-05, 27.147809982299805, 1.0397549867630005, 12.66464900970459, -2.3086981773376465, -0.560734212398529, 1.5668827295303345, -0.9567456841468811, 0.40800344944000244, 1.1848740577697754, 0.3556554913520813, 0.08259957283735275, 0.11528434604406357, 0.7383503913879395, -0.2519032657146454, 0.3764091730117798, 0.09663727134466171, -0.07631922513246536, -0.11235709488391876, -0.0008501376141794026, -0.0006710964953526855, 0.0019787466153502464, -0.005523898638784885, -0.0027719212230294943, -0.002273659221827984, 0.00017310916155111045, -0.002807015785947442, -0.006364127155393362, -0.012676198035478592, 0.0014818712370470166, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6557940244674683, 0.8432486653327942, 0.6436421275138855, 0.6568192839622498, 0.2154051512479782, 0.320742666721344, 0.17411653697490692, 0.03979234769940376, 0.021901817992329597, 0.057066865265369415, 0.05463453009724617, 0.00959824863821268, 0.05454719439148903, 0.05497676134109497, 0.00831432081758976, 0.005465488415211439, 0.04050631448626518, 0.042019590735435486, 0.009457951411604881, 0.003233923576772213, 0.041488271206617355, 0.07046030461788177, 0.00021672795992344618, 0.0035770873073488474, 0.01373506709933281, 0.02743968367576599, 0.05348886922001839, 0.007388513069599867, 0.003738848026841879, 4.230393409729004, 2.127253293991089, 1.5655778646469116, 1.6560121774673462, 0.288881778717041, 0.6849987506866455, 0.471708208322525, 0.6663496494293213, 1.3242590427398682, 0.5108584761619568, 0.25796809792518616, 0.13870716094970703, 0.790772557258606, 0.3496328294277191, 0.3962288498878479, 0.09499754011631012, 0.26935356855392456, 0.2146129459142685, 0.02117520570755005, 0.009339960291981697, 0.06929592788219452, 0.06022664159536362, 0.020013773813843727, 0.010228950530290604, 0.018380742520093918, 0.11987889558076859, 0.0996847078204155, 0.03842977434396744, 0.005497514735907316, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2406]}, "observation.state.tcp": {"min": [0.3619506061077118, 0.19219493865966797, 0.9832659959793091, -1.2114216089248657, 1.2210543155670166, -1.581801176071167, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2276913970708847, -0.27606114745140076, 0.9493812918663025, -0.6297063231468201, 1.2177059650421143, 0.42738887667655945, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41824090480804443, 0.22781172394752502, 1.07547128200531, -0.9770382046699524, 1.7893896102905273, -1.2015444040298462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.454136461019516, -0.03917866200208664, 1.1153124570846558, 1.208746075630188, 1.8941627740859985, 1.4851832389831543, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4086024761199951, 0.21056237816810608, 1.029336929321289, -1.1415971517562866, 1.6921104192733765, -1.5108212232589722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3937459886074066, -0.15236330032348633, 1.0409965515136719, -0.2017512023448944, 1.6447111368179321, 0.7136631011962891, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007225982844829559, 0.006304848939180374, 0.026325546205043793, 0.039980124682188034, 0.08979178965091705, 0.05864741653203964, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05647870898246765, 0.05693700537085533, 0.04176619276404381, 0.3006318211555481, 0.12059537321329117, 0.1604456603527069, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2406]}, "action": {"min": [1.0503164529800415, -0.8159071207046509, -0.2244405746459961, 1.166380524635315, -0.0518450103700161, -0.767572820186615, 0.22658203542232513, 0.0, 0.0, -0.24317550659179688, 0.0, 0.0, 0.0, -0.0634620189666748, 0.0, 0.0, 0.0, -0.07023276388645172, 0.0, 0.0, 0.0, -0.08183865249156952, 0.0, 0.0, 0.0, 0.0, -0.055998437106609344, 0.0, 0.0, 0.9158831834793091, -1.1159381866455078, -0.24342025816440582, 1.0248310565948486, -1.7377667427062988, -0.7699999809265137, -0.3354039192199707, 0.0, -0.07830800861120224, -0.21454858779907227, -0.14419905841350555, 0.0, 0.0, -0.16411364078521729, 0.0, 0.0, 0.0, -0.11442414671182632, 0.0, 0.0, 0.0, -0.14627976715564728, 0.0, 0.0, 0.0, 0.0, -0.1625603437423706, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5439882278442383, -0.0012995071010664105, -1.4944668691896368e-05, -8.493088313121634e-19, -0.7480961084365845], "max": [1.2913179397583008, -0.647523045539856, -0.0009164416696876287, 1.5686860084533691, 0.08987525850534439, 0.04057800769805908, 0.5777283310890198, 1.3656527996063232, 0.2920457124710083, 0.0, 0.2780615985393524, 0.5686428546905518, 0.44255125522613525, 0.07826679944992065, 0.04135312885046005, 0.03949320316314697, 0.26520976424217224, 0.17581112682819366, 0.04477754235267639, 0.03399871662259102, 0.04136604443192482, 0.19686776399612427, 0.008276798762381077, 0.008195027709007263, 0.26180002093315125, 0.11073070764541626, 0.250619500875473, 0.02396216243505478, 0.02200617454946041, 1.3483831882476807, -0.2799389660358429, 2.927658539982407e-17, 1.7887076139450073, 0.09701608121395111, -0.1692766547203064, 0.7364515662193298, 1.3529292345046997, 0.2832464873790741, 0.32210907340049744, 0.20495247840881348, 0.5170343518257141, 1.1968632936477661, 0.07812824845314026, 0.6730256080627441, 0.45220184326171875, 1.4522614479064941, 0.18576757609844208, 1.4807053804397583, 1.046440839767456, 1.467200756072998, 0.19251857697963715, 1.5560896396636963, 1.1210273504257202, 0.16106870770454407, 1.3188016414642334, 0.22336357831954956, 1.4384076595306396, 1.444080114364624, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 1.6633506548416216e-21, 1.4140237908577546e-05, 0.15899816155433655, -0.5852943062782288], "mean": [1.2256587743759155, -0.7073222994804382, -0.22203607857227325, 1.2615875005722046, 0.03285250812768936, -0.07055337727069855, 0.3322639763355255, 1.3132240772247314, 0.28622671961784363, -0.17703372240066528, 0.2399701625108719, 0.5548267960548401, 0.4020070731639862, 0.07008343935012817, 0.03818974643945694, 0.03678100183606148, 0.23355452716350555, 0.16105510294437408, 0.03967911750078201, 0.03092237003147602, 0.029764195904135704, 0.17544125020503998, 0.006283404305577278, 0.006247648503631353, 0.13845586776733398, 0.09225163608789444, 0.21802183985710144, 0.020754028111696243, 0.0191328227519989, 1.2162905931472778, -0.621184766292572, -0.22004008293151855, 1.2920867204666138, -1.3551249504089355, -0.4246637523174286, 0.021086497232317924, 1.2001819610595703, 0.08973719924688339, 0.012518036179244518, -0.03831213712692261, 0.1361771523952484, 0.8193545341491699, 0.038593024015426636, 0.23175786435604095, 0.24167047441005707, 1.1768155097961426, -0.04927453398704529, 1.3306537866592407, 0.8579587340354919, 1.286317229270935, -0.09007161110639572, 1.3872339725494385, 0.8388591408729553, 0.03371749073266983, 1.1889406442642212, -0.10562621057033539, 1.0239211320877075, 1.3327670097351074, 0.5626980066299438, -1.1068620681762695, 0.5440649390220642, -0.0009377290261909366, 3.886641479766695e-07, 0.12367819249629974, -0.7114308476448059], "std": [0.054167114198207855, 0.04217143356800079, 0.018908696249127388, 0.08306553214788437, 0.020763058215379715, 0.1263715624809265, 0.06599684804677963, 0.14151492714881897, 0.033322472125291824, 0.02885103039443493, 0.028792617842555046, 0.06528544425964355, 0.060463108122348785, 0.015615597367286682, 0.00540486304089427, 0.005102897994220257, 0.04870975762605667, 0.03326483070850372, 0.00800695177167654, 0.006172918248921633, 0.008530494756996632, 0.03740836679935455, 0.0016760528087615967, 0.0016647629672661424, 0.03641147166490555, 0.021863464266061783, 0.03822094202041626, 0.004580918233841658, 0.004247209522873163, 0.10165797173976898, 0.17021110653877258, 0.02387823350727558, 0.18580472469329834, 0.32732462882995605, 0.11281995475292206, 0.17620541155338287, 0.16123248636722565, 0.06022936850786209, 0.08004901558160782, 0.061334576457738876, 0.09058471024036407, 0.20463503897190094, 0.031166106462478638, 0.16061681509017944, 0.12042100727558136, 0.23593983054161072, 0.02891833707690239, 0.2922366261482239, 0.1996798813343048, 0.26532861590385437, 0.038041166961193085, 0.3072279393672943, 0.21706126630306244, 0.013933217152953148, 0.24513868987560272, 0.043748535215854645, 0.24380464851856232, 0.29039549827575684, 1.45874901136267e-05, 3.603366394600016e-06, 3.073969855904579e-05, 0.00016192218754440546, 7.129400273697684e-06, 0.027192266657948494, 0.03068487159907818], "count": [2406]}, "observation.state.tcp_pose": {"min": [0.3619506061077118, 0.19219493865966797, 0.9832659959793091, -1.2114216089248657, 1.2210543155670166, -1.581801176071167, 0.2276913970708847, -0.27606114745140076, 0.9493812918663025, -0.6297063231468201, 1.2177059650421143, 0.42738887667655945], "max": [0.41824090480804443, 0.22781172394752502, 1.07547128200531, -0.9770382046699524, 1.7893896102905273, -1.2015444040298462, 0.454136461019516, -0.03917866200208664, 1.1153124570846558, 1.208746075630188, 1.8941627740859985, 1.4851832389831543], "mean": [0.4086024761199951, 0.21056237816810608, 1.029336929321289, -1.1415971517562866, 1.6921104192733765, -1.5108212232589722, 0.3937459886074066, -0.15236330032348633, 1.0409965515136719, -0.2017512023448944, 1.6447111368179321, 0.7136631011962891], "std": [0.007225982844829559, 0.006304848939180374, 0.026325546205043793, 0.039980124682188034, 0.08979178965091705, 0.05864741653203964, 0.05647870898246765, 0.05693700537085533, 0.04176619276404381, 0.3006318211555481, 0.12059537321329117, 0.1604456603527069], "count": [2406]}, "action.tcp_pose": {"min": [0.36191418766975403, 0.19242918491363525, 0.9831934571266174, -1.2081583738327026, 1.2190338373184204, -1.5818463563919067, 0.22771354019641876, -0.2765727639198303, 0.9492945075035095, -0.6299219727516174, 1.217836856842041, 0.4269188940525055], "max": [0.41821208596229553, 0.2278030663728714, 1.0754863023757935, -0.9775297045707703, 1.7894251346588135, -1.2038118839263916, 0.4541049003601074, -0.03913353756070137, 1.1149588823318481, 1.2088515758514404, 1.894058346748352, 1.4864696264266968], "mean": [0.40862756967544556, 0.2105698585510254, 1.0293517112731934, -1.1415736675262451, 1.6919636726379395, -1.5107420682907104, 0.39386096596717834, -0.15254652500152588, 1.0414364337921143, -0.20195017755031586, 1.6431082487106323, 0.7136334180831909], "std": [0.007187044247984886, 0.0063018896616995335, 0.026371635496616364, 0.039932940155267715, 0.0903114527463913, 0.05880500003695488, 0.0564083531498909, 0.05709405988454819, 0.0419120267033577, 0.30030766129493713, 0.12217491120100021, 0.16102448105812073], "count": [2406]}, "subtask_index": {"min": [54], "max": [1128], "mean": [1075.0336658354115], "std": [172.11360313124877], "count": [2406]}, "observation.tactile": {"min": [-0.012361046858131886, -4.292035009711981e-05, -9.356622467748821e-05, -0.0010681702988222241, -0.00013007494271732867, -0.00023305800277739763, -0.0074280910193920135, -4.570089731714688e-05, -9.72166599240154e-05, -0.000523396534845233, -4.083264502696693e-05, -0.00017150933854281902, -0.01251896470785141, -4.8686320951674134e-05, -0.00010883082723012194, -0.0011538154212757945, -6.453416426666081e-05, -0.00024887191830202937, -0.010358352214097977, -3.493645999697037e-05, -7.612026092829183e-05, -0.001187285059131682, -5.324488301994279e-05, -0.00021675472089555115, -0.004289216361939907, -5.111654900247231e-05, -0.00011556875688256696, -0.000769320409744978, -1.864240584836807e-05, -7.390244718408212e-05, -4.512334823608398, -3.668708086479455e-05, -8.53703822940588e-05, -0.1848209649324417, -0.010720065794885159, -0.05375368893146515, -6.93813943862915, -0.06407353281974792, -9.574968862580135e-05, -0.23733067512512207, -0.03043527342379093, -0.10117854177951813, -0.006988665089011192, -4.464736412046477e-05, -0.00010122684034286067, -0.0019604144617915154, -7.847431334084831e-06, -0.00016827300714794546, -0.014108898118138313, -5.8276913478039205e-05, -0.0001302380405832082, -0.0016844277270138264, -5.576966213993728e-05, -0.00032578883110545576, -0.15665492415428162, -4.628188253263943e-05, -0.00010432404815219343, -0.001284478115849197, -0.00037795468233525753, -0.0026061683893203735], "max": [0.0052495962008833885, 0.018241388723254204, 0.05273755267262459, 1.7456619616496027e-06, 0.00024226207460742444, 5.051381594967097e-05, 0.0008673081174492836, 0.008263944648206234, 0.02476542629301548, 1.6729170511098346e-06, 4.544919283944182e-05, 1.081210302800173e-05, 0.0023571609053760767, 0.020458729937672615, 0.05967480316758156, 2.0404722818057053e-06, 9.392484207637608e-05, 1.1012905815732665e-05, 0.005813813768327236, 0.02125454507768154, 0.06346356868743896, 1.4302711406344315e-06, 0.00016937013424467295, 6.988055247347802e-05, 0.008243408985435963, 0.01660524308681488, 0.04910239949822426, 2.1714699869335163e-06, 0.00019368618086446077, 7.091168663464487e-05, 5.307535171508789, 7.614805221557617, 12.987335205078125, 1.590017518537934e-06, 0.031097393482923508, 0.07260305434465408, 1.1248281002044678, 12.432950973510742, 13.262436866760254, 1.823952288759756e-06, 0.005040001589804888, 0.06132744252681732, 0.0068723298609256744, 0.03060045652091503, 0.09133083373308182, 1.8969409438795992e-06, 0.00013176491484045982, 7.389562233584002e-05, 0.014786825515329838, 0.02762592025101185, 0.08133256435394287, 2.3786842575646006e-06, 0.00039500900311395526, 0.0001308418286498636, 0.0028332925867289305, 0.028576685115695, 0.06181252375245094, 1.938081368280109e-06, 0.00019155011978000402, 1.3771672456641681e-05], "mean": [-0.0005150408251211047, 0.0017848500283434987, 0.0053242845460772514, -7.950924191391096e-05, 1.3005374057684094e-06, -6.625704372709151e-06, 0.00022608856670558453, 2.983788726851344e-05, 0.00012402651191223413, -2.421994622636703e-06, -1.4758126098968205e-06, 4.377621280582389e-06, -0.00031515597947873175, 0.0009255261393263936, 0.0027546018827706575, -5.208134825807065e-05, -1.3927619875175878e-06, -5.249394689599285e-06, 3.354927321197465e-05, 0.0008771145949140191, 0.002606350462883711, -4.6920660679461434e-05, 7.459039807145018e-06, -1.52287793753203e-06, -0.00014610752987209707, 0.00118111667688936, 0.00351933971978724, -5.463495108415373e-05, 3.6481289953371743e-06, -1.9473411612125346e-06, 0.8057520985603333, 2.1195132732391357, 4.391115188598633, -0.06677337735891342, 0.006648968905210495, 0.009632566012442112, -2.122040033340454, 0.7381865382194519, 4.415492534637451, -0.0692882239818573, -0.004349749069660902, -0.032309990376234055, 0.00028686693985946476, 0.0002443971752654761, 0.0007456179009750485, -1.1605853615037631e-05, 8.290755886264378e-07, 5.053930181020405e-06, -0.0005831533926539123, 0.0019125518156215549, 0.005627496633678675, -0.00011437528155511245, -1.6831850189191755e-06, -1.1976932000834495e-05, -0.0003336653171572834, 0.0009981970069929957, 0.002896545920521021, -5.577945557888597e-05, 2.0984484763175715e-06, -6.4857740653678775e-06], "std": [0.0014239429729059339, 0.0029323960188776255, 0.00866091251373291, 0.0001417583116563037, 2.8341491997707635e-05, 2.2469572286354378e-05, 0.00038022969965822995, 0.0005156038678251207, 0.001537456177175045, 2.959551966341678e-05, 2.790446842482197e-06, 8.069896466622595e-06, 0.001762242754921317, 0.002658762503415346, 0.007834585383534431, 0.00014941814879421145, 6.1370187722786795e-06, 3.398975604795851e-05, 0.0010594372870400548, 0.002327789319679141, 0.006842299830168486, 0.00012644921662285924, 2.276769737363793e-05, 2.1689969798899256e-05, 0.0010236899834126234, 0.002576536266133189, 0.007615571841597557, 0.00011958365939790383, 1.2993449672649149e-05, 1.8472926967660896e-05, 1.0816630125045776, 2.0446972846984863, 4.020883083343506, 0.06145940721035004, 0.008150587789714336, 0.015425293706357479, 1.9786001443862915, 1.0390689373016357, 4.163023471832275, 0.06696029007434845, 0.005534567404538393, 0.03130114823579788, 0.0005266782827675343, 0.001323381089605391, 0.0038896433543413877, 7.567150169052184e-05, 1.0121852938027587e-05, 1.128902022173861e-05, 0.0019832979887723923, 0.0039163087494671345, 0.011459213681519032, 0.0002360544604016468, 1.5537289073108695e-05, 4.0242714021587744e-05, 0.005762946791946888, 0.002621682593598962, 0.0073234159499406815, 0.00014375474711414427, 1.7618664060137235e-05, 9.262025560019538e-05], "count": [2406]}, "timestamp": {"min": [0.0], "max": [80.16666666666667], "mean": [40.083333333333336], "std": [23.151743794814696], "count": [2406]}, "frame_index": {"min": [0], "max": [2405], "mean": [1202.5], "std": [694.5523138444408], "count": [2406]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [2406]}, "index": {"min": [51109], "max": [53514], "mean": [52311.5], "std": [694.5523138444408], "count": [2406]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2406]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.562125563621521]], [[0.5623671412467957]], [[0.5630765557289124]]], "std": [[[0.30326271057128906]], [[0.3029519021511078]], [[0.30356866121292114]]], "count": [2406]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.299837201833725]], [[0.3048633635044098]], [[0.3036515712738037]]], "std": [[[0.18033353984355927]], [[0.1815684288740158]], [[0.18264400959014893]]], "count": [2406]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3103272020816803]], [[0.3140462040901184]], [[0.31136181950569153]]], "std": [[[0.18542072176933289]], [[0.18465478718280792]], [[0.1844259351491928]]], "count": [2406]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5655505657196045]], [[0.5659326314926147]], [[0.5663843154907227]]], "std": [[[0.3067154586315155]], [[0.30616992712020874]], [[0.30695196986198425]]], "count": [2406]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.572549045085907]], [[0.572549045085907]], [[0.572549045085907]]], "mean": [[[0.00367775303311646]], [[0.00367775303311646]], [[0.00367775303311646]]], "std": [[[0.03660175949335098]], [[0.03660175949335098]], [[0.03660175949335098]]], "count": [2406]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49212902784347534]], [[0.49212902784347534]], [[0.49212902784347534]]], "std": [[[0.2223874181509018]], [[0.2223874181509018]], [[0.2223874181509018]]], "count": [2406]}}}
+{"episode_index": 20, "stats": {"observation.state": {"min": [1.050294041633606, -0.8334048390388489, -0.2246350795030594, 1.2066808938980103, -0.10019160062074661, -0.7692422270774841, 0.34298035502433777, 0.006880361586809158, -0.00020127421885263175, -0.2621508538722992, 0.00548248365521431, 0.003508399473503232, 0.003593607572838664, -0.0769427940249443, 0.003504853928461671, 0.0008416165946982801, -0.00270974007435143, -0.08812544494867325, 0.0068579548969864845, 0.0008402863750234246, -0.0031520419288426638, -0.026924459263682365, 0.006815407890826464, 0.0008416165946982801, 0.005519786849617958, -0.0019087913678959012, -0.02599349245429039, 0.002406063722446561, 0.0008318613399751484, 0.9478582739830017, -1.1710149049758911, -0.2434227466583252, 0.9878075122833252, -1.7399613857269287, -0.770013689994812, -0.35288795828819275, 0.005616887006908655, -0.09140823036432266, -0.21078111231327057, -0.1822788566350937, 0.003251696238294244, 0.005311297718435526, -0.09327852725982666, 0.003578957635909319, 0.0008864023839123547, -5.3723571909358725e-05, -0.10018955171108246, 0.0035403103101998568, 0.0008624575566500425, -0.001732654171064496, -0.14343568682670593, 0.0035498833749443293, 0.0008708825334906578, 0.0066222455352544785, -0.0019431336550042033, -0.16407892107963562, 0.003198511665686965, 0.0008801944786682725, 0.5624915957450867, -1.1069588661193848, 0.543796181678772, -0.0010546117555350065, -9.58738019107841e-05, -9.58738019107841e-05, -0.8143520355224609], "max": [1.298193335533142, -0.6863256692886353, -0.0006464290781877935, 1.569269061088562, 0.11322731524705887, 0.03140430152416229, 0.5421193838119507, 1.316496729850769, 0.2779872715473175, 0.0018440360436215997, 0.2542784512042999, 0.4698745310306549, 0.4382057189941406, 0.08044244349002838, 0.033835578709840775, 0.036149609833955765, 0.2524673044681549, 0.1771882325410843, 0.037051111459732056, 0.0315907783806324, 0.023753775283694267, 0.180526465177536, 0.006871783174574375, 0.003772641997784376, 0.24054047465324402, 0.09210860729217529, 0.26195240020751953, 0.018783677369356155, 0.017671288922429085, 1.395034670829773, -0.29140374064445496, -5.15321698912885e-06, 1.7890177965164185, 0.09607309848070145, -0.07325069606304169, 0.6981601715087891, 1.3149983882904053, 0.2329024374485016, 0.200140580534935, 0.1907440721988678, 0.4672468304634094, 1.1284202337265015, 0.08762304484844208, 0.5673065781593323, 0.6122796535491943, 1.4489333629608154, 0.18496368825435638, 1.4153324365615845, 0.7744314074516296, 1.4052457809448242, 0.21235795319080353, 1.5298328399658203, 1.1098848581314087, 0.24236220121383667, 1.2898372411727905, 0.25138720870018005, 1.4005569219589233, 1.308239459991455, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.0005752427969127893, 9.58738019107841e-05, 0.14965900778770447, -0.5984442830085754], "mean": [1.1951673030853271, -0.734410285949707, -0.22232966125011444, 1.2919567823410034, -0.031203359365463257, -0.08432497829198837, 0.4200378954410553, 1.276637077331543, 0.2574695646762848, -0.24689678847789764, 0.19393722712993622, 0.4559852182865143, 0.40399038791656494, 0.06892431527376175, 0.032873328775167465, 0.033838383853435516, 0.23244789242744446, 0.15272198617458344, 0.03613637760281563, 0.028581811115145683, 0.017510950565338135, 0.15850506722927094, 0.0068438355810940266, 0.0015156707959249616, 0.23662069439888, 0.0841827392578125, 0.250007688999176, 0.0170159712433815, 0.016356086358428, 1.2409112453460693, -0.6071982383728027, -0.21831244230270386, 1.2907159328460693, -1.3947502374649048, -0.334259033203125, -0.020217278972268105, 1.1962753534317017, 0.08272102475166321, -0.006820203736424446, -0.04424750432372093, 0.15321378409862518, 0.8395004272460938, 0.04238635301589966, 0.1886933147907257, 0.31300607323646545, 1.1593000888824463, -0.06151900812983513, 1.2766168117523193, 0.49610164761543274, 1.292593002319336, -0.10800958424806595, 1.3662387132644653, 0.7576881051063538, 0.029210668057203293, 1.2019211053848267, -0.1261972188949585, 0.9524825811386108, 1.253218650817871, 0.562701940536499, -1.1068724393844604, 0.5440954566001892, -0.0003610819694586098, -5.771440214630275e-07, 0.09950172156095505, -0.7373818755149841], "std": [0.03757299482822418, 0.030666420236229897, 0.01787232607603073, 0.052670203149318695, 0.02297111786901951, 0.10692678391933441, 0.03652822971343994, 0.12166401743888855, 0.02490270882844925, 0.023260006681084633, 0.01756347343325615, 0.05119352042675018, 0.05220726877450943, 0.014207265339791775, 0.0038417549803853035, 0.004190328065305948, 0.039184924215078354, 0.029206745326519012, 0.004930292256176472, 0.004573812708258629, 0.004555600695312023, 0.0294019877910614, 7.852523594920058e-06, 0.0004205787554383278, 0.024668633937835693, 0.016430877149105072, 0.04096703976392746, 0.0025342521257698536, 0.0028213218320161104, 0.10749955475330353, 0.17186403274536133, 0.024188442155718803, 0.1944924145936966, 0.2959788739681244, 0.12238544970750809, 0.16685062646865845, 0.13121233880519867, 0.07153958082199097, 0.08137977868318558, 0.060979414731264114, 0.10985115170478821, 0.17359212040901184, 0.024245470762252808, 0.15217387676239014, 0.1613970845937729, 0.20324373245239258, 0.029487313702702522, 0.26037365198135376, 0.14865954220294952, 0.23473109304904938, 0.04266032204031944, 0.2775554955005646, 0.21095921099185944, 0.026825513690710068, 0.2191384881734848, 0.04854516312479973, 0.22279514372348785, 0.2511852979660034, 3.632449443102814e-05, 4.61680865555536e-05, 7.817592995706946e-05, 0.0003949681995436549, 7.842833838367369e-06, 0.03460457921028137, 0.03715619444847107], "count": [2824]}, "observation.state.joint_torque": {"min": [-30.79949951171875, -16.76849937438965, -17.496999740600586, -11.354999542236328, -0.46480000019073486, -2.1152000427246094, 1.011199951171875, -0.9271279573440552, -0.3056465983390808, -0.3902045488357544, -0.3616226613521576, -0.11787818372249603, -0.4307994246482849, -0.528664767742157, -0.09463459998369217, -0.039956167340278625, -0.38954246044158936, -0.542097270488739, -0.1145576685667038, -0.0321076326072216, -0.26864996552467346, -0.5094755291938782, -0.0016602561809122562, -0.03710215538740158, -0.11698708683252335, -0.23027142882347107, -0.5027592778205872, -0.09297433495521545, -0.03139413148164749, 5.4704999923706055, -9.958499908447266, -5.895999908447266, -9.972000122070312, -2.737600088119507, -5.241600036621094, -3.1775999069213867, -1.2009365558624268, -0.928401529788971, -0.6412278413772583, -0.9879382252693176, -0.19258970022201538, -0.5728001594543457, -1.1158568859100342, -0.10127562284469604, -0.06920978426933289, -1.068843126296997, -1.068843126296997, -0.3104678690433502, -0.04923170804977417, -0.38666409254074097, -0.34252873063087463, -0.1759871542453766, -0.04780469834804535, -0.14337515830993652, -0.4451914131641388, -0.4519076347351074, -0.15772433578968048, -0.08562035858631134, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.966999053955078, 16.414499282836914, -11.227999687194824, 6.122000217437744, 2.1984000205993652, 1.5384000539779663, 2.5311999320983887, 0.3094671666622162, 0.2814495861530304, 0.38274839520454407, 0.42127177119255066, 0.08135254681110382, 0.435596764087677, 0.2964744567871094, 0.09961536526679993, 0.02354559674859047, 0.39625874161720276, 0.4471103549003601, 0.11787818372249603, 0.02354559674859047, 0.28975820541381836, 0.4087317883968353, 0.0033205123618245125, 0.009989041835069656, 0.060252752155065536, 0.19477123022079468, 0.3463665843009949, 0.10293588042259216, 0.013556556776165962, 38.6879997253418, 17.140499114990234, 20.76099967956543, 5.677999973297119, 0.3720000088214874, 3.4616000652313232, 1.7383999824523926, 2.5648844242095947, 4.565596103668213, 2.014399766921997, 1.3197362422943115, 0.6325575709342957, 2.1463215351104736, 0.7723687291145325, 1.0592433214187622, 0.21476440131664276, 0.5257863998413086, 0.2437039166688919, 0.23741662502288818, 0.038529157638549805, 0.49796193838119507, 0.2811230421066284, 0.35861530900001526, 0.05708024278283119, 0.13325972855091095, 0.5085160732269287, 0.41065073013305664, 0.23741662502288818, 0.04709119349718094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.569551467895508, 2.239837646484375, -14.084881782531738, -2.003772497177124, -0.055679306387901306, -0.082986980676651, 1.720140814781189, -0.0008360883803106844, 0.00038242468144744635, 0.0019797710701823235, 0.0037434641271829605, 0.00036861884291283786, 0.008936849422752857, 0.00807662308216095, 0.0004756195121444762, 0.0005437188665382564, 0.0006513053667731583, 0.005031381733715534, -8.877456275513396e-05, -0.00036913121584802866, 0.011038909666240215, 0.013968933373689651, 7.642821401532274e-06, -0.0059303282760083675, -0.0009615192539058626, 0.007043406367301941, 0.0076019372791051865, 0.001219324884004891, -0.00014123499568086118, 26.713895797729492, 0.896704375743866, 12.284579277038574, -1.9916208982467651, -0.5552865862846375, 1.3803067207336426, -0.7969563603401184, 0.45321840047836304, 1.2536654472351074, 0.34801095724105835, 0.07657403498888016, 0.10754992067813873, 0.7913569211959839, -0.16090945899486542, 0.4144788086414337, 0.1044822484254837, -0.0792553648352623, -0.14724551141262054, 0.00023516436340287328, -0.0007031437708064914, 0.0021377289667725563, -0.005595069378614426, 0.0017337438184767962, -0.0014762720093131065, -0.00038934184703975916, 0.00023648382921237499, 0.00020249436784069985, -0.012951643206179142, 0.0029414219316095114, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.5988409519195557, 0.9653533697128296, 0.43436726927757263, 0.6739783883094788, 0.23245982825756073, 0.3117125630378723, 0.1696624606847763, 0.03974483162164688, 0.0248400941491127, 0.035316649824380875, 0.04235721379518509, 0.009173760190606117, 0.05424356460571289, 0.04115775227546692, 0.0076186880469322205, 0.005059439688920975, 0.036055464297533035, 0.037052225321531296, 0.008206112310290337, 0.0035669959615916014, 0.03808949515223503, 0.06565281748771667, 0.00018467323388904333, 0.008650390431284904, 0.00917754601687193, 0.02479114569723606, 0.05060989782214165, 0.006351152900606394, 0.0035226019099354744, 4.8573126792907715, 2.0926077365875244, 2.790337324142456, 1.8378264904022217, 0.3205481469631195, 1.1186857223510742, 0.5796883702278137, 0.799241840839386, 1.314447045326233, 0.4576467275619507, 0.3075758218765259, 0.1264922320842743, 0.8117536306381226, 0.34457486867904663, 0.4146793484687805, 0.09451058506965637, 0.2013861984014511, 0.21371589601039886, 0.02387615293264389, 0.008651919662952423, 0.06640452146530151, 0.052140165120363235, 0.02556326985359192, 0.009825952351093292, 0.02117650769650936, 0.11743662506341934, 0.08613502979278564, 0.03413643687963486, 0.005359540227800608, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2824]}, "observation.state.tcp": {"min": [0.3618523180484772, 0.1923859566450119, 0.9880964159965515, -1.2109375, 1.2187507152557373, -1.60343337059021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24119748175144196, -0.2692168653011322, 0.9539434313774109, -0.7097856998443604, 1.2177278995513916, 0.3989221155643463, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.40444809198379517, 0.24048037827014923, 1.081392526626587, -0.9021673202514648, 1.7867255210876465, -1.2285696268081665, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47169360518455505, -0.033869050443172455, 1.1303577423095703, 1.2087851762771606, 1.8736052513122559, 1.4686243534088135, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3968462347984314, 0.21500611305236816, 1.0214946269989014, -1.0592378377914429, 1.6550703048706055, -1.535540223121643, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.398318886756897, -0.14556513726711273, 1.0482097864151, -0.26454320549964905, 1.707821249961853, 0.6650074124336243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.005561815109103918, 0.008790702559053898, 0.019712157547473907, 0.045130014419555664, 0.08082910627126694, 0.05616319924592972, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05844173952937126, 0.05600057169795036, 0.04608143866062164, 0.2818896770477295, 0.12021598219871521, 0.16273386776447296, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2824]}, "action": {"min": [1.0502642393112183, -0.8334414958953857, -0.22463232278823853, 1.2066744565963745, -0.10018809884786606, -0.7686380743980408, 0.342991441488266, 0.0, 0.0, -0.26448655128479004, 0.0, 0.0, 0.0, -0.08017904311418533, 0.0, 0.0, 0.0, -0.09696729481220245, 0.0, 0.0, 0.0, -0.10736189037561417, 0.0, 0.0, 0.0, 0.0, -0.08993678539991379, 0.0, 0.0, 0.9478614926338196, -1.1711359024047852, -0.2433980405330658, 0.987755298614502, -1.7399590015411377, -0.7699999809265137, -0.3529086112976074, 0.0, -0.0935114175081253, -0.2095174491405487, -0.18061092495918274, 0.0, 0.0, -0.0927342027425766, 0.0, 0.0, 0.0, -0.10545027256011963, 0.0, 0.0, 0.0, -0.14584608376026154, 0.0, 0.0, 0.0, 0.0, -0.1650189906358719, 0.0, 0.0, 0.5625877380371094, -1.1069587469100952, 0.5439884662628174, -0.0010868521640077233, -0.0002271402918267995, 2.9051863174860258e-18, -0.8144004940986633], "max": [1.298197865486145, -0.6862973570823669, -0.0008135492680594325, 1.569295883178711, 0.11334184557199478, 0.03141357749700546, 0.5422692894935608, 1.3193467855453491, 0.2813560366630554, 0.0, 0.2566320300102234, 0.4759206473827362, 0.4446243643760681, 0.07944795489311218, 0.039708174765110016, 0.038701534271240234, 0.2589567005634308, 0.17794987559318542, 0.04168121889233589, 0.03280040621757507, 0.020331669598817825, 0.1872694492340088, 0.00479688448831439, 0.004737541079521179, 0.26179999113082886, 0.09516271203756332, 0.26943254470825195, 0.02378195896744728, 0.021911244839429855, 1.3950380086898804, -0.2913830578327179, 1.9281884481076495e-17, 1.7892857789993286, 0.09630066156387329, -0.07320977002382278, 0.7826476693153381, 1.3197740316390991, 0.2452383190393448, 0.20670050382614136, 0.19922976195812225, 0.4700533151626587, 1.135871171951294, 0.08056283742189407, 0.5834252238273621, 0.6133515238761902, 1.4640586376190186, 0.18735401332378387, 1.4193555116653442, 0.7758873701095581, 1.416898250579834, 0.21431227028369904, 1.5351917743682861, 1.1112213134765625, 0.26180002093315125, 1.295238971710205, 0.25888141989707947, 1.4045722484588623, 1.4209452867507935, 0.5626999735832214, -1.106863021850586, 0.5443140864372253, 0.000590717769227922, 4.9649988795863464e-05, 0.14973874390125275, -0.592083752155304], "mean": [1.195264458656311, -0.7344318628311157, -0.2223414182662964, 1.2919865846633911, -0.03123466856777668, -0.08435706794261932, 0.420062780380249, 1.2789030075073242, 0.261337012052536, -0.24969646334648132, 0.1962006837129593, 0.4609152376651764, 0.4094618260860443, 0.06999630481004715, 0.03688185662031174, 0.036377131938934326, 0.2352829873561859, 0.1551699936389923, 0.038570865988731384, 0.03071252442896366, 0.016326842829585075, 0.16504257917404175, 0.003984969574958086, 0.003934388980269432, 0.25648343563079834, 0.0842985063791275, 0.2562675178050995, 0.021247586235404015, 0.019985364750027657, 1.2418131828308105, -0.6079458594322205, -0.21831679344177246, 1.2912752628326416, -1.394736886024475, -0.3347671329975128, -0.019506098702549934, 1.1979326009750366, 0.08717881143093109, -0.007568803615868092, -0.044310927391052246, 0.1534757912158966, 0.8460684418678284, 0.03806484118103981, 0.19307364523410797, 0.3334200084209442, 1.1569098234176636, -0.06194138899445534, 1.2756876945495605, 0.49573877453804016, 1.2909005880355835, -0.10806868970394135, 1.3654567003250122, 0.7574290037155151, 0.030122878029942513, 1.1998289823532104, -0.12617801129817963, 0.9502659440040588, 1.3252228498458862, 0.5627044439315796, -1.1068726778030396, 0.5441340208053589, -0.0003873435780405998, -6.673395773759694e-07, 0.09954661130905151, -0.7374173402786255], "std": [0.03759186714887619, 0.030682332813739777, 0.017855506390333176, 0.0527137890458107, 0.02294997125864029, 0.10691525787115097, 0.03655070811510086, 0.1327267587184906, 0.028552494943141937, 0.025757690891623497, 0.021439090371131897, 0.051839519292116165, 0.052619513124227524, 0.013338378630578518, 0.004430773667991161, 0.004317924380302429, 0.03985349088907242, 0.02821826934814453, 0.006425646133720875, 0.005056405905634165, 0.0038096415810287, 0.0313878059387207, 0.0008863549446687102, 0.000874799326993525, 0.029244493693113327, 0.01675247587263584, 0.0416804738342762, 0.003991677891463041, 0.0037263634148985147, 0.10738193988800049, 0.17259623110294342, 0.024192027747631073, 0.19485503435134888, 0.2963810861110687, 0.12250003963708878, 0.1700010448694229, 0.13919585943222046, 0.0763721913099289, 0.08144339919090271, 0.062054265290498734, 0.11082567274570465, 0.17807865142822266, 0.02320278063416481, 0.15634360909461975, 0.17293281853199005, 0.20425470173358917, 0.02997022680938244, 0.2610800266265869, 0.1489989012479782, 0.23482993245124817, 0.042471904307603836, 0.27788639068603516, 0.21116741001605988, 0.03102993406355381, 0.2191050946712494, 0.04842113330960274, 0.2231844812631607, 0.2678399384021759, 2.1584863134194165e-05, 1.066155618900666e-05, 4.670214912039228e-05, 0.0004246653406880796, 1.3873343959858175e-05, 0.03464090824127197, 0.037218231707811356], "count": [2824]}, "observation.state.tcp_pose": {"min": [0.3618523180484772, 0.1923859566450119, 0.9880964159965515, -1.2109375, 1.2187507152557373, -1.60343337059021, 0.24119748175144196, -0.2692168653011322, 0.9539434313774109, -0.7097856998443604, 1.2177278995513916, 0.3989221155643463], "max": [0.40444809198379517, 0.24048037827014923, 1.081392526626587, -0.9021673202514648, 1.7867255210876465, -1.2285696268081665, 0.47169360518455505, -0.033869050443172455, 1.1303577423095703, 1.2087851762771606, 1.8736052513122559, 1.4686243534088135], "mean": [0.3968462347984314, 0.21500611305236816, 1.0214946269989014, -1.0592378377914429, 1.6550703048706055, -1.535540223121643, 0.398318886756897, -0.14556513726711273, 1.0482097864151, -0.26454320549964905, 1.707821249961853, 0.6650074124336243], "std": [0.005561815109103918, 0.008790702559053898, 0.019712157547473907, 0.045130014419555664, 0.08082910627126694, 0.05616319924592972, 0.05844173952937126, 0.05600057169795036, 0.04608143866062164, 0.2818896770477295, 0.12021598219871521, 0.16273386776447296], "count": [2824]}, "action.tcp_pose": {"min": [0.3618186414241791, 0.19241732358932495, 0.9880836009979248, -1.2086368799209595, 1.2188043594360352, -1.6035138368606567, 0.24063418805599213, -0.2731535732746124, 0.9539937376976013, -0.709708571434021, 1.217836856842041, 0.3988193869590759], "max": [0.40445953607559204, 0.2405088096857071, 1.0815287828445435, -0.9021979570388794, 1.7866781949996948, -1.2296926975250244, 0.47165247797966003, -0.033780574798583984, 1.1302776336669922, 1.2088515758514404, 1.8747777938842773, 1.5050606727600098], "mean": [0.3968677520751953, 0.21501050889492035, 1.0215169191360474, -1.0591634511947632, 1.6549973487854004, -1.5355819463729858, 0.398404598236084, -0.14578838646411896, 1.048732042312622, -0.26489436626434326, 1.7058051824569702, 0.6652361750602722], "std": [0.005503471475094557, 0.00879806187003851, 0.019793985411524773, 0.044963233172893524, 0.0810220018029213, 0.0559036061167717, 0.05838572978973389, 0.05626647546887398, 0.046254295855760574, 0.28029873967170715, 0.12315477430820465, 0.16455282270908356], "count": [2824]}, "subtask_index": {"min": [54], "max": [1178], "mean": [1129.453611898017], "std": [164.28664139047376], "count": [2824]}, "observation.tactile": {"min": [-0.01609405316412449, -3.855687828036025e-05, -8.39493513922207e-05, -0.0017542140558362007, -0.0001263974409084767, -0.0002578996354714036, -0.0014941536355763674, -4.5981632865732536e-05, -0.00010517701593926176, -0.0004132491594646126, -1.1271247785771266e-05, -4.42581222159788e-05, -0.012647002935409546, -4.566565257846378e-05, -0.00010119302169186994, -0.0014811737928539515, -3.7615973269566894e-05, -0.0002868805604521185, -0.010988444089889526, -3.1381845474243164e-05, -6.784569995943457e-05, -0.0007516148034483194, -5.042602879257174e-06, -0.0002433648332953453, -0.014436367899179459, -4.867959432885982e-05, -0.00011008579167537391, -0.0010811008978635073, -1.6764433894422837e-05, -0.0003085200150962919, -4.262930393218994, -4.1667037294246256e-05, -0.7799685597419739, -0.3327586054801941, -0.015048847533762455, -0.09480635821819305, -6.729769706726074, -0.8211164474487305, -9.715967462398112e-05, -0.23013296723365784, -0.03278816118836403, -0.1162472516298294, -0.008607689291238785, -4.379710298962891e-05, -9.661383955972269e-05, -0.0016627146396785975, -3.84793384000659e-05, -0.00022650328173767775, -0.01466142013669014, -5.5407759646186605e-05, -0.00012408393376972526, -0.0016872270498424768, -8.377938502235338e-05, -0.0003299594682175666, -0.3055933713912964, -4.313839235692285e-05, -9.571888949722052e-05, -0.001828711829148233, -0.0002569603966549039, -0.004360107239335775], "max": [0.006732676178216934, 0.031148647889494896, 0.08327075839042664, 1.6032769281082437e-06, 0.00034364292514510453, 6.602458597626537e-06, 0.0003416597028262913, 0.006784588564187288, 0.018148763105273247, 1.8177466927227215e-06, 4.939967402606271e-05, 6.7434684751788154e-06, 0.008770248852670193, 0.023787181824445724, 0.07034541666507721, 1.884855009848252e-06, 0.00024919272982515395, 8.270236139651388e-05, 0.0034875774290412664, 0.013240664266049862, 0.037061840295791626, 1.2619963172255666e-06, 0.00010661353735486045, 3.9260045014088973e-05, 0.013434668071568012, 0.019936425611376762, 0.058147601783275604, 2.0724066871480318e-06, 0.00025303164147771895, 0.00017569550254847854, 6.688403606414795, 16.989547729492188, 23.97808265686035, 0.027068614959716797, 0.07154877483844757, 0.11066754162311554, 0.22148500382900238, 20.20709991455078, 12.043140411376953, 1.847619159889291e-06, 0.028337804600596428, 0.04712064191699028, 0.02094811573624611, 0.029196133837103844, 0.08092299103736877, 1.776505314410315e-06, 0.0002591298252809793, 0.0003040177980437875, 0.05662579834461212, 0.028968986123800278, 0.10159174352884293, 2.2681247173750307e-06, 0.000577775645069778, 0.0008318902691826224, 0.004385343287140131, 0.051957495510578156, 0.12253928184509277, 1.7655970623309258e-06, 0.0001860240299720317, 5.4010539315640926e-05], "mean": [-0.0016604200936853886, 0.004256859887391329, 0.012352949008345604, -0.0001724793401081115, 2.0832572772633284e-05, -3.4469394449843094e-05, 0.0001933643943630159, 0.0002308661787537858, 0.0006948000518605113, -1.4490480680251494e-05, 2.6781029305311677e-07, 3.03046863336931e-06, -0.0005767286056652665, 0.0019084867089986801, 0.005593912675976753, -0.00011469760647742078, 7.986813216120936e-06, -1.4815594113315456e-05, -0.0005468680756166577, 0.0013502726797014475, 0.0039694709703326225, -6.459085852839053e-05, 7.70846691011684e-06, -1.1062140401918441e-05, -0.0003635454340837896, 0.0016633679624646902, 0.004901883192360401, -8.285000512842089e-05, 1.3057408978056628e-05, -9.796689482755028e-06, 1.353812575340271, 4.5227813720703125, 8.349590301513672, -0.1195678785443306, 0.012663357891142368, 0.01596258394420147, -2.035919427871704, 1.4900442361831665, 4.390940189361572, -0.0760168582201004, -0.005045718047767878, -0.03207434341311455, -0.0004702142905443907, 0.004123827442526817, 0.012142487801611423, -0.0002384744439041242, 3.664411269710399e-05, -2.1714529793825932e-05, -0.00052277697250247, 0.003445517271757126, 0.010255737230181694, -0.00019892238196916878, 1.895613422675524e-05, -1.7478459994890727e-05, -0.00035116798244416714, 0.004081074148416519, 0.011852268129587173, -0.00024344166740775108, 2.991463952639606e-05, -1.584877463756129e-05], "std": [0.00284383213147521, 0.0051199872978031635, 0.014272350817918777, 0.00020067996229045093, 6.295268394751474e-05, 4.611565236700699e-05, 0.00023286019859369844, 0.000610540562774986, 0.0017401940422132611, 3.690924131660722e-05, 4.900279236608185e-06, 6.167329047457315e-06, 0.0016928187105804682, 0.00359134073369205, 0.01044117659330368, 0.00022123493545223027, 2.0909767044940963e-05, 3.8823967770440504e-05, 0.0010630479082465172, 0.002028744900599122, 0.005938124377280474, 9.892215166473761e-05, 1.3115805813868064e-05, 2.2052083295420744e-05, 0.0014545145677402616, 0.002865902613848448, 0.008368314243853092, 0.00014861286035738885, 2.522492468415294e-05, 3.1976760510588065e-05, 1.8256975412368774, 4.557683944702148, 7.347989082336426, 0.10337387770414352, 0.017719902098178864, 0.03162802383303642, 1.9039033651351929, 2.8685145378112793, 3.9575588703155518, 0.06996990740299225, 0.0073803807608783245, 0.03196079283952713, 0.0014369928976520896, 0.004893261007964611, 0.0141794104129076, 0.00029107267619110644, 4.415505827637389e-05, 3.23051426676102e-05, 0.0020641423761844635, 0.00381064647808671, 0.01121747400611639, 0.00024044871679507196, 3.144164293189533e-05, 3.7117926694918424e-05, 0.007606289815157652, 0.0041453721933066845, 0.011750462464988232, 0.00024214167206082493, 3.795573866227642e-05, 0.00011000470112776384], "count": [2824]}, "timestamp": {"min": [0.0], "max": [94.1], "mean": [47.050000000000004], "std": [27.173950966157115], "count": [2824]}, "frame_index": {"min": [0], "max": [2823], "mean": [1411.5], "std": [815.2185289847134], "count": [2824]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [2824]}, "index": {"min": [53515], "max": [56338], "mean": [54926.5], "std": [815.2185289847134], "count": [2824]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2824]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5671812891960144]], [[0.567422091960907]], [[0.5681657791137695]]], "std": [[[0.3059070110321045]], [[0.30562713742256165]], [[0.30627745389938354]]], "count": [2824]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2994213402271271]], [[0.30455702543258667]], [[0.3035491406917572]]], "std": [[[0.17967988550662994]], [[0.1810799092054367]], [[0.1820535659790039]]], "count": [2824]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31016644835472107]], [[0.31416910886764526]], [[0.3117413818836212]]], "std": [[[0.1845630258321762]], [[0.1843634396791458]], [[0.18424013257026672]]], "count": [2824]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.572640061378479]], [[0.5729900598526001]], [[0.5734362602233887]]], "std": [[[0.3093760013580322]], [[0.30891746282577515]], [[0.3097273111343384]]], "count": [2824]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6392157077789307]], [[0.6392157077789307]], [[0.6392157077789307]]], "mean": [[[0.004319286905229092]], [[0.004319286905229092]], [[0.004319286905229092]]], "std": [[[0.04134282469749451]], [[0.04134282469749451]], [[0.04134282469749451]]], "count": [2824]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49178585410118103]], [[0.49178585410118103]], [[0.49178585410118103]]], "std": [[[0.2223222851753235]], [[0.2223222851753235]], [[0.2223222851753235]]], "count": [2824]}}}
+{"episode_index": 21, "stats": {"observation.state": {"min": [1.022459864616394, -0.8080039024353027, -0.22415904700756073, 1.1589159965515137, -0.18236514925956726, -0.7699791193008423, 0.35459282994270325, 0.006880361121147871, -0.0009906511986628175, -0.2429424524307251, 0.00400948990136385, 0.0035491741728037596, -0.0007401129696518183, -0.2143131047487259, 0.0035062720999121666, 0.0008256534347310662, -0.0011909926543012261, -0.24697497487068176, 0.006872846744954586, 0.0008136810502037406, -0.0019978382624685764, -0.026930347084999084, 0.006815762259066105, 0.000839399523101747, 0.005782022140920162, -0.002882932312786579, -0.026092354208230972, 0.002270620781928301, 0.000837182451505214, 0.9157060384750366, -1.1482986211776733, -0.24302689731121063, 1.0199105739593506, -1.651397943496704, -0.7699885964393616, -0.29259687662124634, 0.006494796834886074, -0.0038198623806238174, -0.20203916728496552, -0.18914607167243958, 0.0032687149941921234, 0.00021219679911155254, -0.24049867689609528, 0.0037445384077727795, 0.001102349371649325, -0.0015977310249581933, -0.14849211275577545, 0.003059168579056859, 0.0008655614801682532, -0.0017412399174645543, -0.13506656885147095, 0.003543501254171133, 0.0008553627412766218, -0.0010757001582533121, -0.0023829808924347162, -0.15733540058135986, 0.0031939023174345493, 0.00083496532170102, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0013422331539914012, -9.58738019107841e-05, -0.03317233547568321, -0.7813714742660522], "max": [1.282388687133789, -0.627002477645874, -1.725728543533478e-05, 1.5699877738952637, 0.12158823758363724, 0.01150449551641941, 0.6669430732727051, 1.3954304456710815, 0.2943463623523712, 0.000370852678315714, 0.2416694611310959, 0.4644993543624878, 0.5438642501831055, 0.07703699916601181, 0.03786483034491539, 0.04544375091791153, 0.20272567868232727, 0.15684431791305542, 0.04564926028251648, 0.027161870151758194, 0.027276238426566124, 0.17353159189224243, 0.006863982882350683, 0.003781067207455635, 0.24903476238250732, 0.08808717876672745, 0.27644628286361694, 0.018796086311340332, 0.017679713666439056, 1.3785638809204102, -0.3161919116973877, -1.0186590770899784e-05, 1.7533252239227295, 0.1615360826253891, -0.0624665729701519, 0.6981384754180908, 1.370673418045044, 0.26773273944854736, 0.1204868033528328, 0.20011936128139496, 0.45950427651405334, 1.0386013984680176, 0.08717020601034164, 0.8121116757392883, 0.5181218981742859, 1.3703972101211548, 0.17228929698467255, 1.3931835889816284, 0.7098663449287415, 1.3776624202728271, 0.17222453653812408, 1.5122517347335815, 1.0078319311141968, 0.09430091083049774, 1.3437045812606812, 0.16063615679740906, 1.427541732788086, 1.3094699382781982, 0.5627791881561279, -1.1066712141036987, 0.5441796779632568, 0.0003834952076431364, 9.58738019107841e-05, 0.11562380194664001, -0.6001699566841125], "mean": [1.1617923974990845, -0.6754433512687683, -0.2223588526248932, 1.226809024810791, 0.02463105507194996, -0.08948691189289093, 0.4216383099555969, 1.3093230724334717, 0.2838042676448822, -0.12612798810005188, 0.19047273695468903, 0.41803812980651855, 0.4785787761211395, 0.06321217119693756, 0.037130266427993774, 0.040163617581129074, 0.14846348762512207, 0.12870150804519653, 0.03721977770328522, 0.023416612297296524, 0.015546363778412342, 0.14886194467544556, 0.006841697730123997, 0.002240713918581605, 0.20457150042057037, 0.05514911562204361, 0.23483674228191376, 0.012916007079184055, 0.012425629422068596, 1.2138495445251465, -0.6152772903442383, -0.22308126091957092, 1.27144193649292, -1.1930609941482544, -0.37069353461265564, 0.058432724326848984, 1.26687753200531, 0.13824716210365295, -0.049634285271167755, -0.08595670014619827, 0.1715957373380661, 0.7998092174530029, 0.04167646914720535, 0.20062857866287231, 0.23280556499958038, 1.1092345714569092, -0.05798734724521637, 1.2444185018539429, 0.44983187317848206, 1.2423979043960571, -0.10232420265674591, 1.3620785474777222, 0.6736805438995361, 0.014477735385298729, 1.1928373575210571, -0.12033078819513321, 0.9631727933883667, 1.2612180709838867, 0.5626992583274841, -1.1068663597106934, 0.54405277967453, -0.0007364717894233763, 9.654964827632284e-08, 0.07959035784006119, -0.7260101437568665], "std": [0.0538138709962368, 0.03514263778924942, 0.01603151299059391, 0.058800309896469116, 0.04395716264843941, 0.09390559792518616, 0.04234682768583298, 0.1228550598025322, 0.029353749006986618, 0.03200511261820793, 0.02987697161734104, 0.059929315000772476, 0.0613863468170166, 0.025226853787899017, 0.003958651330322027, 0.004787773359566927, 0.02800828404724598, 0.03860164061188698, 0.005234678275883198, 0.003876339877024293, 0.0076765380799770355, 0.0305625107139349, 7.651839950995054e-06, 0.000949645007494837, 0.05604090169072151, 0.020184004679322243, 0.04180004820227623, 0.0034613388124853373, 0.003966250456869602, 0.12727950513362885, 0.17367330193519592, 0.020887231454253197, 0.18346735835075378, 0.30810877680778503, 0.13025185465812683, 0.1989496499300003, 0.12929505109786987, 0.051529157906770706, 0.052593640983104706, 0.06421694904565811, 0.1114267036318779, 0.1651122272014618, 0.04276076704263687, 0.14146468043327332, 0.12693683803081512, 0.19363902509212494, 0.02354399859905243, 0.23737438023090363, 0.10886836051940918, 0.22507290542125702, 0.03039897419512272, 0.2589726746082306, 0.18525470793247223, 0.006390802562236786, 0.21697822213172913, 0.033065833151340485, 0.2168450653553009, 0.23655076324939728, 3.822057260549627e-05, 4.071180592291057e-05, 5.4131589422468096e-05, 0.00028020545141771436, 4.646498382498976e-06, 0.022508418187499046, 0.0280203465372324], "count": [2979]}, "observation.state.joint_torque": {"min": [-33.4995002746582, -9.369000434875488, -18.2549991607666, -8.04800033569336, -0.3176000118255615, -1.1735999584197998, 1.2488000392913818, -0.6469519734382629, -0.3094671964645386, -0.4026314318180084, -0.37156420946121216, -0.0979551151394844, -0.4471103549003601, -0.506597101688385, -0.09131408482789993, -0.039956167340278625, -0.30606910586357117, -0.5747190713882446, -0.12949997186660767, -0.03139413148164749, -0.21971730887889862, -0.45382657647132874, -0.0016602561809122562, -0.03638865053653717, -0.10555225610733032, -0.22547408938407898, -0.44327250123023987, -0.05146794021129608, -0.032821137458086014, 6.928500175476074, -4.7129998207092285, 0.10999999940395355, -8.484999656677246, -1.8976000547409058, -2.6031999588012695, -3.0880000591278076, -1.361400842666626, -0.9105721712112427, -0.5057746767997742, -1.9659349918365479, -0.2108525186777115, -0.5996651649475098, -0.9671399593353271, -0.18262816965579987, -0.06849627941846848, -1.2386683225631714, -1.041978120803833, -0.16934612393379211, -0.04423718526959419, -0.6274896264076233, -0.38474518060684204, -0.16436536610126495, -0.052085720002651215, -0.49125784635543823, -0.6975305080413818, -0.43655624985694885, -0.47981399297714233, -0.11558748036623001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.913000106811523, 8.728500366210938, -11.472999572753906, 2.3389999866485596, 1.7056000232696533, 1.267199993133545, 3.0952000617980957, 0.5297874212265015, 0.35022005438804626, 0.41505834460258484, 0.4013887345790863, 0.09629485011100769, 0.393380343914032, 0.506597101688385, 0.08467306196689606, 0.01712406985461712, 0.3905019462108612, 0.33005568385124207, 0.11787818372249603, 0.019264578819274902, 0.26193371415138245, 0.4240832030773163, 0.004980768077075481, 0.009989041835069656, 0.07168757915496826, 0.18325766921043396, 0.34156927466392517, 0.09463459998369217, 0.014270060695707798, 35.88750076293945, 11.161499977111816, 20.2189998626709, 2.7760000228881836, 0.35600000619888306, 3.08240008354187, 2.3136000633239746, 2.4273433685302734, 5.011330604553223, 2.1212711334228516, 1.3880842924118042, 0.6790447235107422, 2.1434431076049805, 0.791558027267456, 1.0609036684036255, 0.21476440131664276, 0.92012619972229, 0.2628931999206543, 0.19258970022201538, 0.0642152652144432, 1.0458159446716309, 0.3051096200942993, 0.19258970022201538, 0.07991233468055725, 0.13809753954410553, 1.1158568859100342, 0.7771660685539246, 0.27062171697616577, 0.09917692095041275, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.993865966796875, 1.9861583709716797, -13.48430061340332, -1.8815827369689941, -0.01784869283437729, -0.11976739764213562, 1.7120648622512817, 0.0028954618610441685, -0.005038105882704258, 0.015953078866004944, -0.010279006324708462, 0.003716218052431941, 0.013278220780193806, 0.017599280923604965, -0.00010923540685325861, 0.0003669315483421087, 0.008043177425861359, 0.0013304825406521559, 0.001223319093696773, -3.999828186351806e-05, 0.02324487268924713, 0.02933342196047306, 7.2451580308552366e-06, -0.004207487218081951, -0.006473442539572716, 0.01027735136449337, 0.004662378691136837, 0.0003611438150983304, 0.00015496418927796185, 26.975997924804688, 1.3060104846954346, 12.255659103393555, -2.090660333633423, -0.5137808918952942, 1.3816627264022827, -1.1343954801559448, 0.38764557242393494, 1.3430250883102417, 0.3555552065372467, 0.08411989361047745, 0.14092518389225006, 0.7896023392677307, -0.06534535437822342, 0.42232128977775574, 0.1052388921380043, -0.07862617075443268, -0.12151902168989182, 0.00020955166837666184, -0.0012406648602336645, -0.01403734926134348, -0.012718125246465206, -0.0015800034161657095, -0.003000840777531266, -0.007110046222805977, -0.035131365060806274, 0.004650773014873266, -0.0213091392070055, 0.0018181308405473828, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.768620491027832, 0.9049296975135803, 0.5939697027206421, 0.6760355234146118, 0.19073644280433655, 0.34126636385917664, 0.17434215545654297, 0.050196338444948196, 0.03133682906627655, 0.07336417585611343, 0.06671450287103653, 0.011346600949764252, 0.06499182432889938, 0.06165314093232155, 0.006595892831683159, 0.003958410117775202, 0.05155114457011223, 0.05365007743239403, 0.011502331122756004, 0.0034726778976619244, 0.05202265828847885, 0.08075500279664993, 0.00020841126388404518, 0.008688140660524368, 0.01520511694252491, 0.03011610358953476, 0.05959625169634819, 0.006916486192494631, 0.003939141985028982, 4.494828701019287, 2.294778823852539, 1.858597755432129, 1.6670222282409668, 0.28600484132766724, 0.7006691694259644, 0.526374340057373, 0.7849729657173157, 1.454555630683899, 0.4241354465484619, 0.32470443844795227, 0.1634771078824997, 0.8320531845092773, 0.25153571367263794, 0.42313337326049805, 0.09687909483909607, 0.21162556111812592, 0.19415894150733948, 0.022215891629457474, 0.007963845506310463, 0.07449545711278915, 0.049317918717861176, 0.023894648998975754, 0.009051346220076084, 0.04619027301669121, 0.12388422340154648, 0.09357583522796631, 0.044303279370069504, 0.005916147027164698, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2979]}, "observation.state.tcp": {"min": [0.36177074909210205, 0.1888759434223175, 0.9488245844841003, -1.2532975673675537, 1.217851161956787, -1.5810439586639404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23940478265285492, -0.28190717101097107, 0.9169979691505432, -0.560536801815033, 1.2178411483764648, 0.4763721823692322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41672417521476746, 0.22851569950580597, 1.0746792554855347, -0.8284630179405212, 1.7269771099090576, -1.2289583683013916, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4671054184436798, -0.05256006494164467, 1.114462971687317, 1.2088489532470703, 1.9498341083526611, 1.3801915645599365, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39996951818466187, 0.2050834447145462, 1.0020157098770142, -1.1409549713134766, 1.643227219581604, -1.525377869606018, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3954964578151703, -0.15694302320480347, 1.0354670286178589, -0.07592278718948364, 1.7283272743225098, 0.7706289291381836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010730949230492115, 0.008825038559734821, 0.027121424674987793, 0.07590381056070328, 0.06288114935159683, 0.05113941803574562, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06078284606337547, 0.06066961959004402, 0.05149257555603981, 0.30603158473968506, 0.1172051727771759, 0.15897789597511292, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2979]}, "action": {"min": [1.022552728652954, -0.8079766035079956, -0.22415295243263245, 1.1589094400405884, -0.18242357671260834, -0.7681743502616882, 0.35459664463996887, 0.0, 0.0, -0.2523946464061737, 0.0, 0.0, 0.0, -0.21670958399772644, 0.0, 0.0, 0.0, -0.25811830163002014, 0.0, 0.0, 0.0, -0.28592342138290405, 0.0, 0.0, 0.0, 0.0, -0.2771507799625397, 0.0, 0.0, 0.9157127737998962, -1.1488126516342163, -0.24303440749645233, 1.0198757648468018, -1.651403546333313, -0.7699902653694153, -0.292838454246521, 0.0, -0.005547867156565189, -0.2016877382993698, -0.19157342612743378, 0.0, 0.0, -0.23968449234962463, 0.0, 0.0, 0.0, -0.15560324490070343, 0.0, 0.0, 0.0, -0.14001740515232086, 0.0, 0.0, -8.208978385937371e-09, 0.0, -0.1602679193019867, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440214276313782, -0.0013657695380970836, -1.587238148204051e-05, -0.03326244279742241, -0.7815423011779785], "max": [1.282378077507019, -0.627011775970459, -0.0017106587765738368, 1.5689475536346436, 0.12164540588855743, 0.011554931290447712, 0.6669687032699585, 1.405286192893982, 0.2933528423309326, 0.0, 0.24318934977054596, 0.4719018042087555, 0.5496562719345093, 0.07843495905399323, 0.047120679169893265, 0.04866443946957588, 0.20300813019275665, 0.15867525339126587, 0.04925941303372383, 0.031247951090335846, 0.027582725510001183, 0.1833767592906952, 0.007159039378166199, 0.006858856417238712, 0.26180002093315125, 0.09795073419809341, 0.2810383141040802, 0.024093810468912125, 0.022782551124691963, 1.3785531520843506, -0.3161742389202118, -7.4085551204916555e-06, 1.7536262273788452, 0.16193963587284088, -0.0624043345451355, 0.8497803211212158, 1.3784974813461304, 0.2916763126850128, 0.11985307186841965, 0.23484762012958527, 0.4611526429653168, 1.0477793216705322, 0.08361279964447021, 0.8228480219841003, 0.576367974281311, 1.3941619396209717, 0.1758430153131485, 1.3984324932098389, 0.7178872227668762, 1.388558268547058, 0.17494674026966095, 1.5165088176727295, 1.0085794925689697, 0.1122945174574852, 1.3493305444717407, 0.16516751050949097, 1.434786081314087, 1.4501725435256958, 0.5626999735832214, -1.106863021850586, 0.5444358587265015, 0.00040931921103037894, 0.00017919046513270587, 0.11557181179523468, -0.6000000238418579], "mean": [1.1618731021881104, -0.6754747629165649, -0.22236403822898865, 1.226861834526062, 0.024451615288853645, -0.08951493352651596, 0.4216890335083008, 1.318824291229248, 0.2842574119567871, -0.12465418875217438, 0.19150377810001373, 0.42430150508880615, 0.48275846242904663, 0.0649171769618988, 0.04295291751623154, 0.044724736362695694, 0.15094202756881714, 0.1330612152814865, 0.04084004461765289, 0.026619818061590195, 0.015564993023872375, 0.15314063429832458, 0.0043954490683972836, 0.004222778137773275, 0.20863324403762817, 0.056889619678258896, 0.23703794181346893, 0.015557851642370224, 0.015058416873216629, 1.2144098281860352, -0.6160082221031189, -0.22307392954826355, 1.2720656394958496, -1.1937144994735718, -0.37103593349456787, 0.05969391018152237, 1.2693688869476318, 0.14403174817562103, -0.04940999299287796, -0.08630673587322235, 0.17230069637298584, 0.8084871172904968, 0.038502469658851624, 0.2097066342830658, 0.2616450786590576, 1.107287883758545, -0.05780298635363579, 1.244312047958374, 0.44949010014533997, 1.2399709224700928, -0.10217061638832092, 1.3610141277313232, 0.6733092069625854, 0.015694186091423035, 1.1900540590286255, -0.12032017856836319, 0.9607930183410645, 1.3469473123550415, 0.5627068877220154, -1.1068757772445679, 0.5441230535507202, -0.0007834830903448164, 8.367737223125005e-07, 0.07965134084224701, -0.7260649800300598], "std": [0.0538676381111145, 0.03518025949597359, 0.01607886515557766, 0.05892758071422577, 0.0440385676920414, 0.09384989738464355, 0.04241962730884552, 0.13121430575847626, 0.02870967611670494, 0.03181779012084007, 0.03136948123574257, 0.05971390753984451, 0.059712063521146774, 0.025598986074328423, 0.004874576348811388, 0.005060927011072636, 0.027651039883494377, 0.03938397392630577, 0.006557914894074202, 0.003984786570072174, 0.006858618929982185, 0.044002313166856766, 0.0017281674081459641, 0.0016591475578024983, 0.062060341238975525, 0.019551465287804604, 0.051612772047519684, 0.004454107489436865, 0.004194668028503656, 0.12727998197078705, 0.17432352900505066, 0.021014681085944176, 0.18403483927249908, 0.3076603412628174, 0.13040877878665924, 0.20284190773963928, 0.138509601354599, 0.057716213166713715, 0.05321319028735161, 0.06535498052835464, 0.1128656342625618, 0.16589544713497162, 0.04031350091099739, 0.15096615254878998, 0.14891527593135834, 0.19248320162296295, 0.02434753254055977, 0.23726129531860352, 0.1088469848036766, 0.22475388646125793, 0.03124718926846981, 0.25935354828834534, 0.185465469956398, 0.008301991038024426, 0.21650327742099762, 0.03403697535395622, 0.21689781546592712, 0.25465911626815796, 2.3477376089431345e-05, 1.282375342270825e-05, 3.643900708993897e-05, 0.0002787408884614706, 7.581815680168802e-06, 0.022545505315065384, 0.028080707415938377], "count": [2979]}, "observation.state.tcp_pose": {"min": [0.36177074909210205, 0.1888759434223175, 0.9488245844841003, -1.2532975673675537, 1.217851161956787, -1.5810439586639404, 0.23940478265285492, -0.28190717101097107, 0.9169979691505432, -0.560536801815033, 1.2178411483764648, 0.4763721823692322], "max": [0.41672417521476746, 0.22851569950580597, 1.0746792554855347, -0.8284630179405212, 1.7269771099090576, -1.2289583683013916, 0.4671054184436798, -0.05256006494164467, 1.114462971687317, 1.2088489532470703, 1.9498341083526611, 1.3801915645599365], "mean": [0.39996951818466187, 0.2050834447145462, 1.0020157098770142, -1.1409549713134766, 1.643227219581604, -1.525377869606018, 0.3954964578151703, -0.15694302320480347, 1.0354670286178589, -0.07592278718948364, 1.7283272743225098, 0.7706289291381836], "std": [0.010730949230492115, 0.008825038559734821, 0.027121424674987793, 0.07590381056070328, 0.06288114935159683, 0.05113941803574562, 0.06078284606337547, 0.06066961959004402, 0.05149257555603981, 0.30603158473968506, 0.1172051727771759, 0.15897789597511292], "count": [2979]}, "action.tcp_pose": {"min": [0.36206936836242676, 0.1888727992773056, 0.9488716721534729, -1.2533892393112183, 1.2192806005477905, -1.5809030532836914, 0.23969148099422455, -0.2831365466117859, 0.9168806076049805, -0.5606682896614075, 1.2178422212600708, 0.4762304723262787], "max": [0.41675716638565063, 0.22852632403373718, 1.0746545791625977, -0.8284782767295837, 1.726847529411316, -1.2294282913208008, 0.4670616090297699, -0.05253390967845917, 1.1143333911895752, 1.2088457345962524, 1.9501417875289917, 1.3947759866714478], "mean": [0.3999881148338318, 0.20508335530757904, 1.0020315647125244, -1.140722632408142, 1.64317786693573, -1.5254504680633545, 0.3954894542694092, -0.15711064636707306, 1.0358736515045166, -0.07742473483085632, 1.7264530658721924, 0.7711200714111328], "std": [0.010739334858953953, 0.008836389519274235, 0.0271923765540123, 0.07611019909381866, 0.06296295672655106, 0.05079009011387825, 0.060802143067121506, 0.060858480632305145, 0.051532767713069916, 0.3029049336910248, 0.12079422920942307, 0.160987988114357], "count": [2979]}, "subtask_index": {"min": [54], "max": [1224], "mean": [1179.9738167170192], "std": [153.53336262839156], "count": [2979]}, "observation.tactile": {"min": [-0.024132858961820602, -4.0418915887130424e-05, -8.954054646892473e-05, -0.001486015971750021, -0.0001766468776622787, -0.00044503400567919016, -0.005263902712613344, -4.669312329497188e-05, -0.00010143798135686666, -0.0007897777250036597, -6.548748933710158e-05, -0.00010765645129140466, -0.015149234794080257, -4.202725176583044e-05, -9.397376561537385e-05, -0.0014732939889654517, -0.00010630106407916173, -0.000291648117126897, -0.013409970328211784, -3.555993316695094e-05, -7.798303704475984e-05, -0.0010786103084683418, -1.9842475012410432e-05, -0.00026841211365535855, -0.02453199028968811, -3.907352584064938e-05, -9.013877570396289e-05, -0.0018000786658376455, -3.766474765143357e-05, -0.000529975863173604, -5.189741611480713, -4.095555414096452e-05, -0.06433789432048798, -0.3381952941417694, -0.01054663397371769, -0.06456701457500458, -4.8221354484558105, -0.14108788967132568, -0.00010701129940571263, -0.22278866171836853, -0.027887575328350067, -0.08679357171058655, -0.04350684583187103, -5.310260166879743e-05, -0.00011741957860067487, -0.0019567657727748156, -0.00013956596376374364, -0.0005471573094837368, -0.020971965044736862, -5.378073547035456e-05, -0.00012004173913737759, -0.001779564074240625, -0.0001228103501489386, -0.00044324222835712135, -0.005238768644630909, -4.3531195842660964e-05, -9.767659503268078e-05, -0.0013875736622139812, -6.185400707181543e-05, -0.00010724469757406041], "max": [0.001520252088084817, 0.03376380726695061, 0.0994119942188263, 1.686601763140061e-06, 0.00020993662474211305, 6.747042789356783e-06, 0.001093490282073617, 0.012863168492913246, 0.03687671944499016, 1.7326057104583015e-06, 6.97812283760868e-05, 6.236934950720752e-06, 0.03700374439358711, 0.026291683316230774, 0.07967495173215866, 1.735187311169284e-06, 0.00038746517384424806, 0.0005458977539092302, 0.009306784719228745, 0.020249927416443825, 0.05942341312766075, 1.4427741916733794e-06, 0.000294616591418162, 9.928762301569805e-05, 0.014455296099185944, 0.03126327693462372, 0.09481173008680344, 1.6784874787845183e-06, 0.00023159604461397976, 0.00020646378106903285, 8.598747253417969, 17.511333465576172, 18.59164047241211, 0.0003372077189851552, 0.07032012939453125, 0.15736183524131775, 1.766506552696228, 7.242414474487305, 12.304798126220703, 2.0483796561165946e-06, 0.003649878315627575, 0.034632280468940735, 0.03761996701359749, 0.03260659798979759, 0.09573117643594742, 2.1342168565752218e-06, 0.0003216942131984979, 0.0005674030398949981, 0.0037023480981588364, 0.029059303924441338, 0.08394008874893188, 2.185480525440653e-06, 0.0001869528932729736, 8.713166607776657e-06, 0.023653270676732063, 0.021006010472774506, 0.06791089475154877, 1.8063112747768173e-06, 0.0004274205712135881, 0.0003629913553595543], "mean": [-0.00218503107316792, 0.0031037351582199335, 0.009525087662041187, -0.00016040408809203655, -2.1345551886042813e-06, -3.678892971947789e-05, 0.0002655418938957155, 4.510590952122584e-05, 0.0001669151388341561, -2.951749820567784e-06, -1.1040939398299088e-06, 5.057083853898803e-06, -0.001976851373910904, 0.003977583255618811, 0.011505166999995708, -0.0002163197787012905, -2.2827284738013986e-06, -3.6433368222787976e-05, -9.335824870504439e-05, 0.001648204866796732, 0.004836329724639654, -8.358080958714709e-05, 1.5146810255828314e-05, -5.9786125348182395e-06, -0.0009385878220200539, 0.0019225558498874307, 0.0056204902939498425, -9.966134530259296e-05, 8.977847755886614e-06, -1.946366137417499e-05, 2.31118106842041, 3.675175189971924, 7.046289443969727, -0.11956088244915009, 0.015042895451188087, 0.032223157584667206, -1.5447484254837036, 1.0198805332183838, 4.886218070983887, -0.07557233422994614, -0.00449808593839407, -0.023144705221056938, -0.0006248218123801053, 0.003309454070404172, 0.009835772216320038, -0.00019387208158150315, 2.5936629754141904e-05, -2.13377734326059e-05, -0.0013163500698283315, 0.0044265310280025005, 0.013173836283385754, -0.000264318980043754, 1.817833435779903e-05, -3.392553480807692e-05, -7.371095125563443e-05, 0.001157868653535843, 0.0034273243509233, -7.192346674855798e-05, 3.4665167731873225e-06, -3.211655211998732e-06], "std": [0.0038265837356448174, 0.0041985055431723595, 0.01295491773635149, 0.00023325785878114402, 2.9613820515805855e-05, 6.836646207375452e-05, 0.0002063935244223103, 0.0004324106848798692, 0.0012545767240226269, 2.557590232754592e-05, 3.370896592969075e-06, 4.427774456416955e-06, 0.0031224435660988092, 0.004796577151864767, 0.013837799429893494, 0.00026409365818835795, 2.3835982574382797e-05, 5.547339969780296e-05, 0.0011237863218411803, 0.002988766646012664, 0.008706028573215008, 0.00015974891721270978, 3.851513611152768e-05, 2.4609242245787755e-05, 0.002858199877664447, 0.004410361871123314, 0.012857829220592976, 0.00023732183035463095, 2.6250019800500013e-05, 6.0379079513950273e-05, 2.5128977298736572, 3.526702880859375, 6.341439247131348, 0.11003820598125458, 0.018553027883172035, 0.042671918869018555, 1.5759884119033813, 1.3326311111450195, 4.430445194244385, 0.06948606669902802, 0.005554025527089834, 0.025416703894734383, 0.002872557146474719, 0.0048185912892222404, 0.014232357032597065, 0.0002871222095564008, 4.451079439604655e-05, 5.233814226812683e-05, 0.002284619025886059, 0.005283696111291647, 0.015605294145643711, 0.0003263185208197683, 3.057379217352718e-05, 5.1194536354159936e-05, 0.0010253865038976073, 0.0022722198627889156, 0.006700111087411642, 0.00014291414117906243, 2.313299228262622e-05, 1.9011826225323603e-05], "count": [2979]}, "timestamp": {"min": [0.0], "max": [99.26666666666667], "mean": [49.63333333333334], "std": [28.665439250208735], "count": [2979]}, "frame_index": {"min": [0], "max": [2978], "mean": [1489.0], "std": [859.963177506262], "count": [2979]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [2979]}, "index": {"min": [56339], "max": [59317], "mean": [57828.0], "std": [859.963177506262], "count": [2979]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2979]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5663062334060669]], [[0.5664011240005493]], [[0.5670663118362427]]], "std": [[[0.3043195307254791]], [[0.30411311984062195]], [[0.30486026406288147]]], "count": [2979]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2999449372291565]], [[0.30484315752983093]], [[0.3037905991077423]]], "std": [[[0.18057909607887268]], [[0.1817535161972046]], [[0.1828748732805252]]], "count": [2979]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3101394474506378]], [[0.3141663372516632]], [[0.3118724524974823]]], "std": [[[0.1849372684955597]], [[0.18500196933746338]], [[0.1849883645772934]]], "count": [2979]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5712876915931702]], [[0.57150799036026]], [[0.5718671679496765]]], "std": [[[0.3093319833278656]], [[0.30894532799720764]], [[0.30985963344573975]]], "count": [2979]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6392157077789307]], [[0.6392157077789307]], [[0.6392157077789307]]], "mean": [[[0.003984527662396431]], [[0.003984527662396431]], [[0.003984527662396431]]], "std": [[[0.03927021846175194]], [[0.03927021846175194]], [[0.03927021846175194]]], "count": [2979]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4915968179702759]], [[0.4915968179702759]], [[0.4915968179702759]]], "std": [[[0.22219888865947723]], [[0.22219888865947723]], [[0.22219888865947723]]], "count": [2979]}}}
+{"episode_index": 22, "stats": {"observation.state": {"min": [1.0510666370391846, -0.8666430711746216, -0.22415749728679657, 1.167833685874939, -0.033751051872968674, -0.7677173614501953, 0.2522355914115906, 0.006753706373274326, -0.00022114870080258697, -0.24249204993247986, 0.004040741827338934, 0.00347542529925704, -0.0008237650035880506, -0.1341613531112671, 0.003495635464787483, 0.0008522588177584112, -0.00316038285382092, -0.1596730500459671, 0.0029875468462705612, 0.0008699956815689802, -0.0031591560691595078, -0.02692347764968872, 0.006751586217433214, 0.0008464942802675068, 0.00568569079041481, -0.002679321216419339, -0.02607591822743416, 0.0023078497033566236, 0.0008340784697793424, 0.9424376487731934, -1.2333556413650513, -0.24307183921337128, 1.0031094551086426, -1.7625665664672852, -0.8011960387229919, -0.37735649943351746, 0.00555383088067174, -0.07362589985132217, -0.20627538859844208, -0.17885291576385498, 0.003255596151575446, 0.00018570301472209394, -0.1178889274597168, 0.0038423980586230755, 0.0007471675635315478, -0.002005934249609709, -0.10930952429771423, 0.0029790373519062996, 0.0008837418281473219, -0.0018030572682619095, -0.14671365916728973, 0.0035275460686534643, 0.0008664483320899308, 0.006625456735491753, -0.0020270277746021748, -0.1644100546836853, 0.0032116305083036423, 0.0008602404268458486, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0012463594321161509, 0.0, -9.58738019107841e-05, -0.7684285044670105], "max": [1.2503517866134644, -0.6844119429588318, -0.0021300760563462973, 1.5682692527770996, 0.10997084528207779, 0.1195259839296341, 0.5758637189865112, 1.3128700256347656, 0.29434847831726074, 0.0003695267951115966, 0.27299952507019043, 0.49952980875968933, 0.7134286165237427, 0.0874081552028656, 0.05332661047577858, 0.05003184825181961, 0.5059062838554382, 0.17896872758865356, 0.057238854467868805, 0.04543709754943848, 0.16305029392242432, 0.19676576554775238, 0.018659934401512146, 0.02239418774843216, 0.2413860559463501, 0.18286381661891937, 0.25853490829467773, 0.02978469803929329, 0.026991594582796097, 1.3866349458694458, -0.2590762972831726, -2.756371941359248e-06, 1.8573780059814453, 0.1014227345585823, -0.12030532211065292, 0.6981500387191772, 1.412455677986145, 0.2702338993549347, 0.20243899524211884, 0.21273669600486755, 0.43878820538520813, 1.0194339752197266, 0.11429090052843094, 0.6060121059417725, 0.8397214412689209, 1.2669484615325928, 0.21017538011074066, 1.4397019147872925, 0.9051019549369812, 1.3754069805145264, 0.22608718276023865, 1.5223500728607178, 1.0341827869415283, 0.2341654747724533, 1.2898287773132324, 0.2322796732187271, 1.3356010913848877, 1.308198094367981, 0.5627791881561279, -1.106767177581787, 0.5441796779632568, 9.58738019107841e-05, 9.58738019107841e-05, 0.15426094830036163, -0.5731335878372192], "mean": [1.194539189338684, -0.7281032204627991, -0.22187288105487823, 1.2436763048171997, 0.04060886800289154, -0.013268103823065758, 0.3237582743167877, 1.2743276357650757, 0.28787484765052795, -0.13713566958904266, 0.1717451810836792, 0.46105217933654785, 0.673505961894989, 0.07861913740634918, 0.05191061273217201, 0.0482996329665184, 0.4717163145542145, 0.16054977476596832, 0.055604252964258194, 0.04305711016058922, 0.12745170295238495, 0.17494116723537445, 0.013957283459603786, 0.015611046925187111, 0.09826015681028366, 0.16505593061447144, 0.20812338590621948, 0.026411481201648712, 0.024843858554959297, 1.2234352827072144, -0.6259188652038574, -0.2240413874387741, 1.30313241481781, -1.2857431173324585, -0.36630168557167053, 0.03429598733782768, 1.2223374843597412, 0.11766552925109863, -0.03130841627717018, -0.07395606487989426, 0.20286481082439423, 0.8147904276847839, 0.04664186015725136, 0.18013375997543335, 0.2855900228023529, 1.135530948638916, -0.054248254746198654, 1.2836203575134277, 0.6390652656555176, 1.279273271560669, -0.10201641917228699, 1.3671870231628418, 0.7202998399734497, 0.03468266874551773, 1.1758219003677368, -0.12082995474338531, 0.8431779742240906, 1.2470201253890991, 0.5627018809318542, -1.1068612337112427, 0.5440266132354736, -0.0008434939663857222, 3.520888824937174e-08, 0.10883477330207825, -0.7240331768989563], "std": [0.04173869639635086, 0.03581508249044418, 0.0185280442237854, 0.0648450180888176, 0.025544464588165283, 0.12861567735671997, 0.05759163200855255, 0.11798910051584244, 0.027589857578277588, 0.048406634479761124, 0.02205130271613598, 0.051586464047431946, 0.09976784139871597, 0.021264037117362022, 0.00704171834513545, 0.0066359080374240875, 0.0837710052728653, 0.03590092062950134, 0.008928338065743446, 0.0071461317129433155, 0.03411521762609482, 0.03583839535713196, 0.0032614197116345167, 0.003652947023510933, 0.05692562833428383, 0.03591392561793327, 0.03642398864030838, 0.00515160895884037, 0.004425813443958759, 0.10986345261335373, 0.18752047419548035, 0.02106824517250061, 0.2020445168018341, 0.34414908289909363, 0.12444143742322922, 0.1995861977338791, 0.15410739183425903, 0.06374702602624893, 0.06429265439510345, 0.06781021505594254, 0.12214487791061401, 0.18207670748233795, 0.03523063659667969, 0.1411045491695404, 0.17649133503437042, 0.20890477299690247, 0.0353584848344326, 0.26539963483810425, 0.15281833708286285, 0.23942826688289642, 0.04745239019393921, 0.28258541226387024, 0.2137046456336975, 0.024368401616811752, 0.22055065631866455, 0.048980507999658585, 0.22466492652893066, 0.254614919424057, 3.419374843360856e-05, 4.3770229240180925e-05, 6.672671588603407e-05, 0.0002116554242093116, 1.83693555300124e-06, 0.026613639667630196, 0.029815590009093285], "count": [2723]}, "observation.state.joint_torque": {"min": [-32.287498474121094, -16.709999084472656, -17.496999740600586, -13.137999534606934, -0.46959999203681946, -2.619999885559082, 1.114400029182434, -0.5820021033287048, -0.34003183245658875, -0.3889618217945099, -0.35416653752326965, -0.1494230479001999, -0.4691779911518097, -0.47493478655815125, -0.1062563955783844, -0.039956167340278625, -0.33293408155441284, -0.5277053117752075, -0.11289741843938828, -0.0321076326072216, -0.24370388686656952, -0.5161917805671692, -0.10957689583301544, -0.03139413148164749, -0.10555225610733032, -0.2820824980735779, -0.5248269438743591, -0.13448072969913483, -0.03567514568567276, 13.442999839782715, -13.284000396728516, 1.6920000314712524, -12.197999954223633, -2.940000057220459, -3.146399974822998, -3.1064000129699707, -1.4263508319854736, -0.6915254592895508, -0.33801156282424927, -0.8599411845207214, -0.1411217600107193, -0.47685372829437256, -0.9959238767623901, -0.13116022944450378, -0.0706368014216423, -0.9373965263366699, -1.1926140785217285, -0.3619358241558075, -0.10559843480587006, -1.1033837795257568, -0.322380006313324, -0.2739422619342804, -0.04709119349718094, -0.1618468016386032, -0.7320711612701416, -0.38666409254074097, -0.1494230479001999, -0.06064775213599205, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.308000564575195, 21.077999114990234, -11.581999778747559, 8.418000221252441, 2.24399995803833, 1.8071999549865723, 2.4303998947143555, 0.4189905822277069, 0.2534320056438446, 0.32558467984199524, 0.43866944313049316, 0.29386529326438904, 0.7474226355552673, 0.4826104938983917, 0.10127562284469604, 0.02497260272502899, 0.6121382117271423, 0.274406760931015, 0.1776474118232727, 0.020691584795713425, 0.3319746255874634, 0.47781315445899963, 0.09629485011100769, 0.016410568729043007, 0.06289155781269073, 0.2369876503944397, 0.5881515741348267, 0.05478844791650772, 0.014983562752604485, 41.11050033569336, 18.196500778198242, 19.454999923706055, 4.760000228881836, 0.23360000550746918, 3.165600061416626, 1.039199948310852, 2.4604549407958984, 5.011330604553223, 2.198317766189575, 1.31600821018219, 0.614294707775116, 2.1463215351104736, 0.6927331686019897, 1.0592433214187622, 0.21405088901519775, 0.6754627823829651, 0.23986606299877167, 0.10791664570569992, 0.02425910159945488, 0.33773139119148254, 0.2983933687210083, 0.11123716086149216, 0.021405089646577835, 0.12358411401510239, 0.43463730812072754, 0.4144885540008545, 0.12451920658349991, 0.038529157638549805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.884845733642578, 2.2873694896698, -13.772589683532715, -1.698744773864746, -0.191742941737175, -0.22359797358512878, 1.6797126531600952, -0.0010392105905339122, -0.002845443319529295, 0.030127696692943573, 0.00565896974876523, 0.002958355937153101, 0.0005059927352704108, 0.0065587484277784824, 9.084765770239756e-05, 0.00011712616105796769, 0.012976221740245819, 0.0010841969633474946, -0.00010791928798425943, 3.669023044494679e-06, 0.02767859771847725, 0.0263606458902359, 0.0021425436716526747, 0.0002874447964131832, -0.004555624444037676, 0.013813418336212635, -0.004960785619914532, 0.000660322024486959, 1.336325476586353e-05, 26.914979934692383, 1.082405924797058, 12.67358684539795, -2.195869207382202, -0.5309795141220093, 1.4872864484786987, -1.0416452884674072, 0.581153392791748, 1.5903502702713013, 0.47781750559806824, 0.11127455532550812, 0.16991999745368958, 0.9431952238082886, -0.13512834906578064, 0.5112523436546326, 0.1066322922706604, -0.1043042540550232, -0.15288285911083221, 0.0013682023854926229, -0.0014786217361688614, -0.006046771537512541, -0.00504537858068943, 0.0013291834620758891, -0.0027290326543152332, -0.002722143894061446, -0.007105597760528326, -0.003393181599676609, -0.014263089746236801, 0.0029873724561184645, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.636247992515564, 1.0345669984817505, 0.5332148671150208, 0.742323100566864, 0.2634477913379669, 0.3440658748149872, 0.18168382346630096, 0.04226044565439224, 0.023563137277960777, 0.06015467643737793, 0.049416422843933105, 0.013422399759292603, 0.0552135594189167, 0.05765412002801895, 0.007813903503119946, 0.0038764295168220997, 0.043706975877285004, 0.04219808802008629, 0.010127347894012928, 0.003364063333719969, 0.0490238331258297, 0.06013493612408638, 0.009964309632778168, 0.003412616439163685, 0.013282684609293938, 0.034015193581581116, 0.0572354830801487, 0.00829025823622942, 0.0033390528988093138, 4.26680850982666, 2.23397159576416, 1.4893378019332886, 1.763914704322815, 0.2830873727798462, 0.6785535216331482, 0.5284092426300049, 0.8787612915039062, 1.592271089553833, 0.5608569383621216, 0.30059388279914856, 0.17799495160579681, 0.9099966883659363, 0.2767331004142761, 0.4840600788593292, 0.0994856059551239, 0.2021639049053192, 0.20483700931072235, 0.02776283212006092, 0.011133096180856228, 0.06969352066516876, 0.05570242926478386, 0.02480061911046505, 0.009218156337738037, 0.021211866289377213, 0.12197250127792358, 0.08505222946405411, 0.035910286009311676, 0.0058876099064946175, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2723]}, "observation.state.tcp": {"min": [0.361974835395813, 0.19241958856582642, 0.9740514755249023, -1.2564259767532349, 1.2208067178726196, -1.6054729223251343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23391486704349518, -0.27461859583854675, 0.9514385461807251, -0.614667534828186, 1.2178341150283813, 0.3546794354915619, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4123064875602722, 0.2615329921245575, 1.0625404119491577, -1.019223928451538, 1.846748948097229, -1.2282458543777466, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.462008535861969, -0.023572497069835663, 1.1223458051681519, 1.2088489532470703, 1.913059949874878, 1.539466381072998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4022969603538513, 0.2250155359506607, 1.013068675994873, -1.1848208904266357, 1.7244446277618408, -1.5163953304290771, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3912340998649597, -0.15207238495349884, 1.041506052017212, -0.16790136694908142, 1.7004854679107666, 0.7466769814491272, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007882238365709782, 0.008813527412712574, 0.022970180958509445, 0.0555964820086956, 0.10499257594347, 0.05898395925760269, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.059867702424526215, 0.0623500794172287, 0.04616595059633255, 0.32213494181632996, 0.12508559226989746, 0.1912514716386795, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2723]}, "action": {"min": [1.0502169132232666, -0.8667065501213074, -0.22415295243263245, 1.1677900552749634, -0.033747538924217224, -0.7693214416503906, 0.25223541259765625, 0.0, 0.0, -0.249073788523674, 0.0, 0.0, 0.0, -0.13733039796352386, 0.0, 0.0, 0.0, -0.16566500067710876, 0.0, 0.0, 0.0, -0.17785336077213287, 0.0, 0.0, 0.0, 0.0, -0.1604848951101303, 0.0, 0.0, 0.9424394965171814, -1.2344568967819214, -0.24307072162628174, 1.0030595064163208, -1.762562870979309, -0.8012514114379883, -0.37745949625968933, 0.0, -0.07345950603485107, -0.20580466091632843, -0.1820133924484253, 0.0, 0.0, -0.12047514319419861, 0.0, 0.0, 0.0, -0.11532872915267944, 0.0, 0.0, 0.0, -0.15161335468292236, 0.0, 0.0, -9.072143036803482e-09, 0.0, -0.1688910722732544, 0.0, 0.0, 0.5626833438873291, -1.1069588661193848, 0.5440024137496948, -0.0012476221891120076, -1.5731455278000794e-05, 2.3501425429938095e-18, -0.7683422565460205], "max": [1.2503154277801514, -0.6843989491462708, -0.00029119360260665417, 1.5697355270385742, 0.10993610322475433, 0.11951268464326859, 0.5758931040763855, 1.3242437839508057, 0.2943745255470276, 0.0, 0.27903422713279724, 0.5045594573020935, 0.7223753929138184, 0.08514893054962158, 0.05902907997369766, 0.05406514182686806, 0.5084501504898071, 0.17850586771965027, 0.0640554204583168, 0.04848865419626236, 0.16652266681194305, 0.1985245794057846, 0.02325488068163395, 0.023354269564151764, 0.26180002093315125, 0.1923869550228119, 0.2624755799770355, 0.034697216004133224, 0.03155443072319031, 1.3866350650787354, -0.2590774595737457, -0.0008429556619375944, 1.857613205909729, 0.10144544392824173, -0.12022558599710464, 0.7122076153755188, 1.4251666069030762, 0.28836894035339355, 0.20382696390151978, 0.22408272325992584, 0.44784244894981384, 1.0418474674224854, 0.09269393980503082, 0.6178045272827148, 0.9687708616256714, 1.3957782983779907, 0.23197832703590393, 1.4430313110351562, 0.9062308669090271, 1.4080442190170288, 0.2587244510650635, 1.5264651775360107, 1.0350244045257568, 0.2611639201641083, 1.2907932996749878, 0.26960256695747375, 1.3396778106689453, 1.3910387754440308, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -1.7578387732383115e-20, 1.77928577613784e-05, 0.15443608164787292, -0.5731498599052429], "mean": [1.1945980787277222, -0.7281379103660583, -0.22189292311668396, 1.2437069416046143, 0.04060538113117218, -0.01336593832820654, 0.32380321621894836, 1.2819594144821167, 0.28795126080513, -0.13445653021335602, 0.17287644743919373, 0.46582502126693726, 0.6741884350776672, 0.07865247130393982, 0.05507003888487816, 0.05129401385784149, 0.47602424025535583, 0.16236381232738495, 0.058875083923339844, 0.04618731886148453, 0.13091419637203217, 0.17825016379356384, 0.0195704847574234, 0.019682936370372772, 0.09726431965827942, 0.17013655602931976, 0.21062560379505157, 0.031628046184778214, 0.029028084129095078, 1.2241650819778442, -0.6266772747039795, -0.22405757009983063, 1.3037610054016113, -1.2863131761550903, -0.3668031692504883, 0.034342169761657715, 1.227588176727295, 0.12478713691234589, -0.030479274690151215, -0.07487406581640244, 0.20361945033073425, 0.8299137949943542, 0.03911447152495384, 0.1884048581123352, 0.31281453371047974, 1.1362688541412354, -0.053997743874788284, 1.2849023342132568, 0.6393435001373291, 1.2797452211380005, -0.10188765823841095, 1.3683165311813354, 0.7207643985748291, 0.03569039702415466, 1.17634117603302, -0.12085754424333572, 0.8425724506378174, 1.2942432165145874, 0.5627033710479736, -1.106870412826538, 0.5440802574157715, -0.0008946004672907293, 2.3173228669293167e-07, 0.10887987166643143, -0.7240782976150513], "std": [0.04172901436686516, 0.03584752976894379, 0.018451767042279243, 0.06485766917467117, 0.025534888729453087, 0.12879540026187897, 0.05767136812210083, 0.13234902918338776, 0.031328290700912476, 0.050509653985500336, 0.02506329119205475, 0.05614980310201645, 0.0990184098482132, 0.01921485736966133, 0.0075873928144574165, 0.00691557303071022, 0.08395426720380783, 0.03343493863940239, 0.009603051468729973, 0.007565493229776621, 0.03553817793726921, 0.03744453191757202, 0.0044579035602509975, 0.004474278073757887, 0.05975719168782234, 0.03686195984482765, 0.03704925626516342, 0.005967754404991865, 0.005401981994509697, 0.10990817844867706, 0.1884452849626541, 0.02099805697798729, 0.20259036123752594, 0.34298691153526306, 0.1245928555727005, 0.1997302770614624, 0.1618015617132187, 0.07074367254972458, 0.0643831342458725, 0.06735001504421234, 0.12444834411144257, 0.18544316291809082, 0.02940029837191105, 0.14503110945224762, 0.1889345794916153, 0.20350854098796844, 0.03661206364631653, 0.2617902457714081, 0.15157103538513184, 0.23306873440742493, 0.04818464443087578, 0.2788046896457672, 0.21252501010894775, 0.02599654160439968, 0.21473951637744904, 0.050302013754844666, 0.22303056716918945, 0.2640030086040497, 1.993426303670276e-05, 8.805272955214605e-06, 3.6181751056574285e-05, 0.0002055534569080919, 7.290707344509428e-06, 0.026689304038882256, 0.029903320595622063], "count": [2723]}, "observation.state.tcp_pose": {"min": [0.361974835395813, 0.19241958856582642, 0.9740514755249023, -1.2564259767532349, 1.2208067178726196, -1.6054729223251343, 0.23391486704349518, -0.27461859583854675, 0.9514385461807251, -0.614667534828186, 1.2178341150283813, 0.3546794354915619], "max": [0.4123064875602722, 0.2615329921245575, 1.0625404119491577, -1.019223928451538, 1.846748948097229, -1.2282458543777466, 0.462008535861969, -0.023572497069835663, 1.1223458051681519, 1.2088489532470703, 1.913059949874878, 1.539466381072998], "mean": [0.4022969603538513, 0.2250155359506607, 1.013068675994873, -1.1848208904266357, 1.7244446277618408, -1.5163953304290771, 0.3912340998649597, -0.15207238495349884, 1.041506052017212, -0.16790136694908142, 1.7004854679107666, 0.7466769814491272], "std": [0.007882238365709782, 0.008813527412712574, 0.022970180958509445, 0.0555964820086956, 0.10499257594347, 0.05898395925760269, 0.059867702424526215, 0.0623500794172287, 0.04616595059633255, 0.32213494181632996, 0.12508559226989746, 0.1912514716386795], "count": [2723]}, "action.tcp_pose": {"min": [0.3618128001689911, 0.1924544870853424, 0.9740234613418579, -1.2565268278121948, 1.2182279825210571, -1.605696201324463, 0.23396457731723785, -0.27524974942207336, 0.9514334797859192, -0.614661455154419, 1.2182884216308594, 0.3545149862766266], "max": [0.41224610805511475, 0.26156678795814514, 1.0625790357589722, -1.0192923545837402, 1.846638798713684, -1.2292757034301758, 0.46184730529785156, -0.023549644276499748, 1.1222580671310425, 1.2080644369125366, 1.9131927490234375, 1.5390619039535522], "mean": [0.4023127257823944, 0.22503310441970825, 1.013059377670288, -1.1848375797271729, 1.7243415117263794, -1.5163735151290894, 0.39125555753707886, -0.15225966274738312, 1.041917324066162, -0.16846239566802979, 1.6993505954742432, 0.7463705539703369], "std": [0.007867824286222458, 0.008810844272375107, 0.022997263818979263, 0.05563051998615265, 0.10518722236156464, 0.05905577912926674, 0.059907540678977966, 0.06261949241161346, 0.046357981860637665, 0.3209710419178009, 0.12579117715358734, 0.19093503057956696], "count": [2723]}, "subtask_index": {"min": [54], "max": [1275], "mean": [1212.3334557473374], "std": [205.8670665057401], "count": [2723]}, "observation.tactile": {"min": [-0.0070337955839931965, -4.281321889720857e-05, -9.314724593423307e-05, -0.001309719285927713, -7.999590161489323e-05, -9.260368096875027e-05, -0.003077761735767126, -4.812179395230487e-05, -0.00011001944221789017, -0.000655864889267832, -2.424264675937593e-05, -6.741115066688508e-05, -0.009914758615195751, -4.512046143645421e-05, -0.00010031161946244538, -0.0011464330600574613, -2.9984050343045965e-05, -0.00022716498642694205, -0.02015502192080021, -3.502935578580946e-05, -7.722445297986269e-05, -0.0016521753277629614, -1.6602312825853005e-05, -0.0004608622984960675, -0.0023281613830477, -4.749697836814448e-05, -0.00010655746882548556, -0.0008670054958201945, -3.496117642498575e-05, -5.981228605378419e-05, -1.9003568887710571, -3.634469976532273e-05, -8.313621219713241e-05, -0.19056634604930878, -0.0024559698067605495, -0.04816238209605217, -6.6400041580200195, -4.1505460103508085e-05, -9.720312664285302e-05, -0.22317136824131012, -0.025450177490711212, -0.09096407145261765, -0.045975156128406525, -4.874881051364355e-05, -0.00010825957724591717, -0.0029649233911186457, -0.00036956925760023296, -0.0009217243641614914, -0.012266991659998894, -5.4626510973321274e-05, -0.00012257121852599084, -0.002898312406614423, -1.4780373021494597e-05, -0.00027355371275916696, -0.14245519042015076, -4.210435145068914e-05, -9.319616947323084e-05, -0.0015619383193552494, -0.00023062476248014718, -0.002114469651132822], "max": [0.029669295996427536, 0.02091735415160656, 0.0671173557639122, 1.7351466112813796e-06, 0.00038208035402931273, 0.0004642923013307154, 0.007011059671640396, 0.013024025596678257, 0.03942834213376045, 1.8952950995299034e-06, 0.00022003965568728745, 4.5696404413320124e-05, 0.01923384703695774, 0.019477222114801407, 0.05548768863081932, 1.88260969480325e-06, 0.00029358910978771746, 0.0002883855195250362, 0.010793078690767288, 0.027684977278113365, 0.08051396161317825, 1.418933493368968e-06, 0.00030784905538894236, 9.676873014541343e-05, 0.012470219284296036, 0.017746787518262863, 0.05447414517402649, 2.0006100385216996e-06, 0.00022744055604562163, 0.00012800742115359753, 6.170145034790039, 8.214692115783691, 11.745804786682129, 1.5404143596242648e-06, 0.029511332511901855, 0.101394884288311, 0.2550370693206787, 11.960378646850586, 12.711278915405273, 1.8356133750785375e-06, 0.0037409337237477303, 0.020662471652030945, 0.01314361859112978, 0.04959235340356827, 0.14803095161914825, 1.9843650989059824e-06, 0.0002419880183879286, 0.00015539229207206517, 0.15501578152179718, 0.06088808923959732, 0.1859649419784546, 2.2768094822822604e-06, 0.0009747609728947282, 0.0021250599529594183, 0.0016092975856736302, 0.03299978747963905, 0.07265923917293549, 1.7070660760509782e-06, 0.00011123954027425498, 6.964172825973947e-06], "mean": [0.00011551303759915754, 0.0005683182389475405, 0.0017035255441442132, -2.546283576521091e-05, 2.761321184152621e-06, 2.2773733689973596e-06, 0.0002158310526283458, 0.00020556624804157764, 0.0006374194636009634, -1.010377127386164e-05, -8.644612989883171e-07, 4.32820024798275e-06, 7.34147397452034e-05, 0.0005750178825110197, 0.0017292123520746827, -3.2290285162162036e-05, 1.2170725085525191e-06, 1.2771832871294464e-06, -7.54467910155654e-05, 0.0012550129322335124, 0.003694525919854641, -6.78515643812716e-05, 1.2489305845519993e-05, -5.618443537969142e-06, 9.440253052162006e-06, 0.0030236609745770693, 0.008812204003334045, -0.00014202730380930007, 3.1327832402894273e-05, -9.307942491432186e-06, 1.574681043624878, 2.5827577114105225, 4.651307106018066, -0.08064436167478561, 0.006432394962757826, 0.023312963545322418, -2.078786611557007, 1.3400392532348633, 5.385210037231445, -0.08589723706245422, -0.0055966367945075035, -0.031834300607442856, -0.0012371878838166595, 0.004486504476517439, 0.013362615369260311, -0.0002742224605754018, 1.4673845726065338e-05, -3.243174433009699e-05, 0.0005770820425823331, 0.0013170508900657296, 0.004029403440654278, -6.393599323928356e-05, 1.1855379852931947e-05, 5.95197843722417e-06, -0.0014830034924671054, 0.004066922701895237, 0.011687694117426872, -0.0002403926628176123, -6.8560293584596366e-06, -2.754458000708837e-05], "std": [0.0008463478297926486, 0.0017104543512687087, 0.0049478476867079735, 8.049429015954956e-05, 2.364111969654914e-05, 1.334745411440963e-05, 0.00034881013561971486, 0.0008007997530512512, 0.002371225506067276, 3.832450966001488e-05, 7.867112799431197e-06, 5.341646101442166e-06, 0.0009649551939219236, 0.0017364954110234976, 0.005120737943798304, 0.00010143686813535169, 1.5204798728518654e-05, 1.835471994127147e-05, 0.0016925301169976592, 0.0032702614553272724, 0.009601065889000893, 0.00018181120685767382, 3.983249916927889e-05, 3.5227050830144435e-05, 0.0007001037010923028, 0.0026609464548528194, 0.00771700544282794, 0.00012478411372285336, 2.9479708246071823e-05, 1.3180638234189246e-05, 1.713216781616211, 2.370044469833374, 4.128474712371826, 0.07136663794517517, 0.007141779642552137, 0.027723070234060287, 2.0560946464538574, 1.5627031326293945, 4.7436418533325195, 0.07753792405128479, 0.006478482391685247, 0.03238284960389137, 0.0027087393682450056, 0.0048505100421607494, 0.014330736361443996, 0.00030606338987126946, 3.381880378583446e-05, 5.176744161872193e-05, 0.007273264229297638, 0.003964266274124384, 0.012145903892815113, 0.00019566985429264605, 5.842273458256386e-05, 9.774289355846122e-05, 0.0036776340566575527, 0.004388532601296902, 0.01259558741003275, 0.00026500370586290956, 2.560808752605226e-05, 5.9195088397245854e-05], "count": [2723]}, "timestamp": {"min": [0.0], "max": [90.73333333333333], "mean": [45.36666666666667], "std": [26.2020779498285], "count": [2723]}, "frame_index": {"min": [0], "max": [2722], "mean": [1361.0], "std": [786.062338494855], "count": [2723]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [2723]}, "index": {"min": [59318], "max": [62040], "mean": [60679.0], "std": [786.062338494855], "count": [2723]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2723]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5693908333778381]], [[0.5696226954460144]], [[0.5702029466629028]]], "std": [[[0.3051431179046631]], [[0.3048695921897888]], [[0.3054456412792206]]], "count": [2723]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3007257580757141]], [[0.3052687346935272]], [[0.30405673384666443]]], "std": [[[0.18113677203655243]], [[0.18210871517658234]], [[0.1831636279821396]]], "count": [2723]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30986446142196655]], [[0.31410983204841614]], [[0.31166014075279236]]], "std": [[[0.1848844587802887]], [[0.18482016026973724]], [[0.18470843136310577]]], "count": [2723]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5728397369384766]], [[0.5732147097587585]], [[0.5735368132591248]]], "std": [[[0.3084147870540619]], [[0.30790019035339355]], [[0.3086848855018616]]], "count": [2723]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5921568870544434]], [[0.5921568870544434]], [[0.5921568870544434]]], "mean": [[[0.004234672989696264]], [[0.004234672989696264]], [[0.004234672989696264]]], "std": [[[0.04014711081981659]], [[0.04014711081981659]], [[0.04014711081981659]]], "count": [2723]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49105873703956604]], [[0.49105873703956604]], [[0.49105873703956604]]], "std": [[[0.22200274467468262]], [[0.22200274467468262]], [[0.22200274467468262]]], "count": [2723]}}}
+{"episode_index": 23, "stats": {"observation.state": {"min": [1.0509326457977295, -0.7940637469291687, -0.22405898571014404, 1.1741892099380493, -0.0754452496767044, -0.7686231136322021, 0.28969624638557434, 0.045650217682123184, 0.001879402669146657, -0.23366715013980865, 0.009303517639636993, 0.007971991784870625, 0.0036576346028596163, -0.04294298589229584, 0.003493862459436059, 0.0008296442101709545, -0.001876899041235447, -0.0416899174451828, 0.0029666274785995483, 0.0008234363049268723, -0.00327568082138896, -0.02691807970404625, 0.006803706753998995, 0.000826096860691905, 0.005726364441215992, -0.002692568814381957, -0.026009928435087204, 0.0024032271467149258, 0.000839399523101747, 0.9611369967460632, -1.1429731845855713, -0.24272777140140533, 0.9952957630157471, -1.7658917903900146, -0.7757413983345032, -0.3153752088546753, 0.005573885980993509, -0.0479646697640419, -0.19618943333625793, -0.20093797147274017, 0.003244959283620119, 0.005549497436732054, -0.13015832006931305, 0.0038665079046040773, 0.0009684356045909226, -0.0016139220679178834, -0.1074414774775505, 0.003032576059922576, 0.0013271647039800882, -0.0020221262238919735, -0.1536184698343277, 0.0035488198045641184, 0.0008456074283458292, 0.006811697501689196, -0.002080754842609167, -0.17332573235034943, 0.0031967388931661844, 0.0008686654036864638, 0.5625874400138855, -1.1069588661193848, 0.543796181678772, -0.0014381069922819734, -9.58738019107841e-05, -0.01543568167835474, -0.7690995931625366], "max": [1.2753734588623047, -0.6811888813972473, -0.0010005629155784845, 1.5693118572235107, 0.13992290198802948, -0.010983902029693127, 0.5738487243652344, 1.3781523704528809, 0.2956106662750244, -0.001965633127838373, 0.2723316550254822, 0.5110495090484619, 0.4563943147659302, 0.050014905631542206, 0.03781306743621826, 0.036166902631521225, 0.277353435754776, 0.14602769911289215, 0.03778115659952164, 0.031575702130794525, 0.061360444873571396, 0.18071609735488892, 0.006865045987069607, 0.008420600555837154, 0.24891380965709686, 0.15967059135437012, 0.2392127513885498, 0.02977193519473076, 0.026895815506577492, 1.437253713607788, -0.3089132308959961, -0.0005210741073824465, 1.8315943479537964, 0.10043535381555557, -0.13840065896511078, 0.6981634497642517, 1.3837627172470093, 0.27733179926872253, 0.2329862415790558, 0.20202837884426117, 0.33164817094802856, 1.133427619934082, 0.09061369299888611, 0.6381138563156128, 0.6974359154701233, 1.2472177743911743, 0.1522826999425888, 1.4471224546432495, 0.8021112084388733, 1.4095458984375, 0.187672957777977, 1.5654985904693604, 1.1854490041732788, 0.210663840174675, 1.3434789180755615, 0.19432562589645386, 1.419539213180542, 1.3088624477386475, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 0.00028762139845639467, 0.10718690603971481, -0.5257719159126282], "mean": [1.1615909337997437, -0.7232475876808167, -0.222188338637352, 1.2709654569625854, -0.01686069741845131, -0.10051485896110535, 0.4050390422344208, 1.3417659997940063, 0.2875592112541199, -0.15585578978061676, 0.17638760805130005, 0.4899909198284149, 0.4271100163459778, 0.03075135312974453, 0.036797963082790375, 0.03472057357430458, 0.24918854236602783, 0.1286986768245697, 0.036763470619916916, 0.029840698465704918, 0.028599455952644348, 0.14140655100345612, 0.006836110260337591, 0.0033763335086405277, 0.18102720379829407, 0.10393217206001282, 0.21305271983146667, 0.0201749037951231, 0.018984951078891754, 1.2356343269348145, -0.5919408202171326, -0.22239015996456146, 1.2688312530517578, -1.3052828311920166, -0.35541608929634094, 0.028273364529013634, 1.250969648361206, 0.11367913335561752, -0.013757958076894283, -0.07575514167547226, 0.12305333465337753, 0.8454850316047668, 0.03669608756899834, 0.14110800623893738, 0.2428470402956009, 1.1156959533691406, -0.05793740227818489, 1.2515759468078613, 0.46133872866630554, 1.2511740922927856, -0.10043656080961227, 1.3778904676437378, 0.7451441884040833, 0.01737954653799534, 1.1711348295211792, -0.11878328025341034, 0.965415894985199, 1.2609843015670776, 0.5627052783966064, -1.1068613529205322, 0.5440560579299927, -0.0009753090562298894, 9.658207034135557e-08, 0.07188474386930466, -0.6894049048423767], "std": [0.036982063204050064, 0.02512655407190323, 0.01609141379594803, 0.058044977486133575, 0.015030782669782639, 0.08694203943014145, 0.04749702289700508, 0.10021543502807617, 0.02279501035809517, 0.023513417690992355, 0.0198858380317688, 0.042410027235746384, 0.05577119067311287, 0.011950060725212097, 0.0045827110297977924, 0.004208802245557308, 0.0412379689514637, 0.026520507410168648, 0.00546296127140522, 0.004648119676858187, 0.01389518566429615, 0.030437229201197624, 7.721786460024305e-06, 0.0018164812354370952, 0.04194259271025658, 0.032647307962179184, 0.03945748507976532, 0.00483164144679904, 0.004896402824670076, 0.11290152370929718, 0.18465222418308258, 0.02006978541612625, 0.2093828022480011, 0.31184032559394836, 0.1337754726409912, 0.16532903909683228, 0.12690158188343048, 0.05538000911474228, 0.056998953223228455, 0.053332485258579254, 0.06173563003540039, 0.1934605985879898, 0.02892906777560711, 0.1304432451725006, 0.1420252025127411, 0.1874450296163559, 0.02720131166279316, 0.2413114458322525, 0.15370222926139832, 0.22181876003742218, 0.03691310063004494, 0.2641502916812897, 0.216657817363739, 0.021608779206871986, 0.209064319729805, 0.03857051953673363, 0.2215653657913208, 0.23395267128944397, 3.5530280001694337e-05, 4.5758046326227486e-05, 6.260113877942786e-05, 0.000249029922997579, 8.784051715338137e-06, 0.02126004733145237, 0.04561754688620567], "count": [2978]}, "observation.state.joint_torque": {"min": [-31.538999557495117, -15.470999717712402, -16.42799949645996, -12.24899959564209, -0.2648000121116638, -2.3824000358581543, 1.2848000526428223, -0.5985578894615173, -0.4368199408054352, -0.37653493881225586, -0.33801159262657166, -0.08467306196689606, -0.47493478655815125, -0.4586239457130432, -0.0879935771226883, -0.04209667816758156, -0.2820824682712555, -0.41736695170402527, -0.11123716086149216, -0.03139413148164749, -0.25713640451431274, -0.4970024526119232, -0.0033205123618245125, -0.03781566023826599, -0.11434828490018845, -0.28112301230430603, -0.5238674879074097, -0.11787818372249603, -0.033534638583660126, 11.0625, -9.607500076293945, -2.558000087738037, -8.310999870300293, -2.612799882888794, -4.356800079345703, -3.458400011062622, -1.9663264751434326, -0.8048694133758545, -0.7605260014533997, -1.2551164627075195, -0.13614100217819214, -1.0333430767059326, -0.9345181584358215, -0.167685866355896, -0.0706368014216423, -1.5226696729660034, -1.2252358198165894, -0.11289741843938828, -0.06635577231645584, -0.7819633483886719, -0.3003123104572296, -0.10957689583301544, -0.06564227491617203, -0.13897714018821716, -0.8404906988143921, -0.39433979988098145, -0.3868396580219269, -0.0827663391828537, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.456499099731445, 14.901000022888184, -11.13599967956543, 6.135000228881836, 1.9199999570846558, 1.0920000076293945, 2.480799913406372, 0.3209289312362671, 0.27253490686416626, 0.3392542600631714, 0.41505831480026245, 0.10459613054990768, 0.9450722932815552, 0.3195016384124756, 0.07139100879430771, 0.022118592634797096, 0.7531794309616089, 0.2504201829433441, 0.10791664570569992, 0.019978083670139313, 0.2715283930301666, 0.43175891041755676, 0.004980768077075481, 0.014983562752604485, 0.07124777138233185, 0.33005571365356445, 0.4164074659347534, 0.09629485011100769, 0.021405089646577835, 42.46200180053711, 13.829999923706055, 20.954999923706055, 2.7090001106262207, 0.2160000056028366, 3.067199945449829, 2.65120005607605, 2.2974436283111572, 4.810113430023193, 2.147367477416992, 1.509867787361145, 0.5910511612892151, 2.1491997241973877, 0.6399626731872559, 1.0575830936431885, 0.21405088901519775, 0.6476383805274963, 0.26193374395370483, 0.10127562284469604, 0.0321076326072216, 0.4758942723274231, 0.248501256108284, 0.12285894900560379, 0.051372215151786804, 0.1262229084968567, 0.5526514053344727, 0.4077722728252411, 0.39514094591140747, 0.06492877006530762, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.37364959716797, 2.4047188758850098, -13.65752124786377, -2.0957112312316895, 0.038214121013879776, -0.0690302848815918, 1.7033250331878662, 1.197372330352664e-05, -0.0015130088431760669, 0.012004191055893898, -0.002237916924059391, 0.0032497274223715067, 0.0021773171611130238, 0.013000103645026684, 0.0003556896699592471, 9.511691314401105e-05, -0.00026901467936113477, 0.007881558500230312, 0.00013770474470220506, -0.00013608731387648731, 0.01888158731162548, 0.02329484559595585, 2.7875353225681465e-06, -0.0018805539002642035, -0.0052147009409964085, 0.011241031810641289, 0.009190003387629986, 0.0004655176308006048, 0.0002647472720127553, 27.206212997436523, 0.9023179411888123, 12.304183959960938, -1.9869709014892578, -0.4865686595439911, 1.4143407344818115, -0.9604507088661194, 0.3203979730606079, 1.4167112112045288, 0.3341902196407318, 0.1601177603006363, 0.12175074219703674, 0.9022433161735535, -0.08939331024885178, 0.4600963592529297, 0.10904765129089355, -0.13544707000255585, -0.20261862874031067, -0.0001683656737441197, -0.0014782779617235065, -0.016989748924970627, -0.012406991794705391, -0.001062604016624391, -0.003898159135133028, -0.001796865719370544, -0.04093800112605095, 0.0032817604951560497, -0.021093886345624924, 0.0015870572533458471, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.9245433211326599, 0.9385133385658264, 0.39112088084220886, 0.7993351221084595, 0.17861726880073547, 0.3425232768058777, 0.17313514649868011, 0.037538040429353714, 0.021430473774671555, 0.058278102427721024, 0.06062614545226097, 0.010572796687483788, 0.06559538841247559, 0.053593337535858154, 0.006385326851159334, 0.003698271233588457, 0.047027479857206345, 0.046485088765621185, 0.009411411359906197, 0.004165047779679298, 0.055708546191453934, 0.07532014697790146, 0.00018997483130078763, 0.006925019435584545, 0.016034087166190147, 0.03406922519207001, 0.0629718229174614, 0.0067392801865935326, 0.004212132655084133, 4.346871852874756, 1.9812241792678833, 2.2858176231384277, 1.7314527034759521, 0.34032535552978516, 0.9153813123703003, 0.609843909740448, 0.7342917323112488, 1.4901509284973145, 0.4037155210971832, 0.3113616108894348, 0.13800273835659027, 0.9033382534980774, 0.20509308576583862, 0.4471583366394043, 0.09862969815731049, 0.3564857244491577, 0.2894715368747711, 0.02326054312288761, 0.007815626449882984, 0.07765873521566391, 0.052138831466436386, 0.025021953508257866, 0.009262815117835999, 0.01486471202224493, 0.13053768873214722, 0.09135674685239792, 0.044267185032367706, 0.005355785600841045, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2978]}, "observation.state.tcp": {"min": [0.3615988492965698, 0.19218531250953674, 0.969631552696228, -1.2363306283950806, 1.2188212871551514, -1.5675221681594849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2396509051322937, -0.2643900215625763, 0.937390148639679, -0.6878664493560791, 1.2178583145141602, 0.4479239284992218, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4116743206977844, 0.23300693929195404, 1.0719081163406372, -0.9371413588523865, 1.8020248413085938, -1.2295175790786743, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4640797972679138, -0.0405706949532032, 1.1408110857009888, 1.2082287073135376, 1.940192461013794, 1.4630202054977417, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.392234742641449, 0.21709389984607697, 1.0030028820037842, -1.1161224842071533, 1.6723332405090332, -1.492936611175537, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3996727466583252, -0.14297306537628174, 1.0451304912567139, -0.20056183636188507, 1.7057969570159912, 0.7277157306671143, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.015673687681555748, 0.009160448797047138, 0.01920042745769024, 0.04528309777379036, 0.09056001901626587, 0.04861966520547867, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.058328621089458466, 0.054982807487249374, 0.047935158014297485, 0.2998924255371094, 0.13040703535079956, 0.16341246664524078, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2978]}, "action": {"min": [1.051939606666565, -0.7940793633460999, -0.22405612468719482, 1.174182653427124, -0.07546275109052658, -0.7613328099250793, 0.2896622121334076, 0.0, 0.0, -0.23746474087238312, 0.0, 0.0, 0.0, -0.043634045869112015, 0.0, 0.0, 0.0, -0.0547044612467289, 0.0, 0.0, 0.0, -0.07851998507976532, 0.0, 0.0, 0.0, 0.0, -0.08488988131284714, 0.0, 0.0, 0.9611381888389587, -1.1431468725204468, -0.24272547662258148, 0.9951527118682861, -1.7658811807632446, -0.7759079337120056, -0.31566116213798523, 0.0, -0.05460355058312416, -0.20437291264533997, -0.1973700076341629, 0.0, 0.0, -0.1311173141002655, 0.0, 0.0, 0.0, -0.11443915218114853, 0.0, 0.0, 0.0, -0.15577957034111023, 0.0, 0.0, -9.683941648575e-09, 0.0, -0.17398154735565186, 0.0, 0.0, 0.5626833438873291, -1.106958270072937, 0.543989896774292, -0.0014394172467291355, -1.3886580745747779e-05, -0.018731731921434402, -0.7691789865493774], "max": [1.275858998298645, -0.6811748743057251, -0.005737777799367905, 1.5658512115478516, 0.1404113471508026, -0.010989267379045486, 0.5739351511001587, 1.3890924453735352, 0.2924427092075348, 0.0, 0.27910125255584717, 0.5183233022689819, 0.45940181612968445, 0.05398500710725784, 0.040975864976644516, 0.03970363736152649, 0.28426966071128845, 0.14770348370075226, 0.045297909528017044, 0.03501901403069496, 0.05985356122255325, 0.18933247029781342, 0.010881797410547733, 0.010779759846627712, 0.26180002093315125, 0.1654912382364273, 0.24287308752536774, 0.03461742773652077, 0.02985060028731823, 1.4372318983078003, -0.30891263484954834, 9.38290986589723e-18, 1.831817865371704, 0.1004108116030693, -0.1383427083492279, 0.7504415512084961, 1.3842558860778809, 0.28841930627822876, 0.23771268129348755, 0.2180984914302826, 0.3352479636669159, 1.1626373529434204, 0.09096138924360275, 0.6579462885856628, 0.6993032693862915, 1.2699275016784668, 0.18202467262744904, 1.4486422538757324, 0.8038675785064697, 1.4134293794631958, 0.20967300236225128, 1.5704845190048218, 1.1865323781967163, 0.23074164986610413, 1.3535479307174683, 0.21668072044849396, 1.423812747001648, 1.4457107782363892, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 9.484270665304312e-20, 1.5317427823902108e-05, 0.10796869546175003, -0.5245353579521179], "mean": [1.1616568565368652, -0.7232455611228943, -0.22219309210777283, 1.2709625959396362, -0.016889771446585655, -0.10052164644002914, 0.405192106962204, 1.3490018844604492, 0.2884277105331421, -0.15310634672641754, 0.17762108147144318, 0.4952797591686249, 0.4296686351299286, 0.03236480429768562, 0.039114899933338165, 0.03790456801652908, 0.25144484639167786, 0.13124467432498932, 0.04171372950077057, 0.032300397753715515, 0.028777245432138443, 0.14632761478424072, 0.006110092159360647, 0.006054544355720282, 0.18456871807575226, 0.10606015473604202, 0.2164197564125061, 0.024940600618720055, 0.022757841274142265, 1.2363340854644775, -0.5926098227500916, -0.2223835587501526, 1.2693949937820435, -1.305623173713684, -0.35581040382385254, 0.028496021404862404, 1.251898169517517, 0.11784444004297256, -0.013970271684229374, -0.07584994286298752, 0.12354812771081924, 0.8595803380012512, 0.031177084892988205, 0.15015609562397003, 0.2971334159374237, 1.115252137184143, -0.058149755001068115, 1.2530614137649536, 0.4617735743522644, 1.2505398988723755, -0.1004616916179657, 1.3787583112716675, 0.74591463804245, 0.01936614140868187, 1.1698752641677856, -0.1190226674079895, 0.9648935794830322, 1.3397990465164185, 0.5627068877220154, -1.1068757772445679, 0.5441056489944458, -0.001024264027364552, -5.068255504170338e-08, 0.07193433493375778, -0.6894548535346985], "std": [0.03702033311128616, 0.02512538433074951, 0.016075361520051956, 0.05805032700300217, 0.014862848445773125, 0.08693309128284454, 0.04770230874419212, 0.11823166906833649, 0.027119312435388565, 0.025752702727913857, 0.02342631295323372, 0.048986803740262985, 0.05502966791391373, 0.01228990126401186, 0.004663433413952589, 0.004443970508873463, 0.0402437187731266, 0.025661535561084747, 0.006452334113419056, 0.004981251433491707, 0.013250645250082016, 0.0313899852335453, 0.0022560665383934975, 0.002237457549199462, 0.04576971009373665, 0.034292858093976974, 0.039419155567884445, 0.006618646439164877, 0.005555700045078993, 0.11311480402946472, 0.1851750910282135, 0.02012086659669876, 0.20977889001369476, 0.31184813380241394, 0.1338355392217636, 0.16650301218032837, 0.13547135889530182, 0.057750154286623, 0.057101137936115265, 0.05261491239070892, 0.06345897167921066, 0.20105133950710297, 0.025743305683135986, 0.13655789196491241, 0.17243997752666473, 0.18293128907680511, 0.02779982052743435, 0.23704496026039124, 0.15301381051540375, 0.21683889627456665, 0.037737611681222916, 0.25950008630752563, 0.21522191166877747, 0.02295847423374653, 0.20418289303779602, 0.03957345709204674, 0.2188410460948944, 0.24761058390140533, 2.3461680029868148e-05, 1.3159455193090253e-05, 2.992698864545673e-05, 0.0002423283294774592, 7.595230727019953e-06, 0.02130541019141674, 0.04566303640604019], "count": [2978]}, "observation.state.tcp_pose": {"min": [0.3615988492965698, 0.19218531250953674, 0.969631552696228, -1.2363306283950806, 1.2188212871551514, -1.5675221681594849, 0.2396509051322937, -0.2643900215625763, 0.937390148639679, -0.6878664493560791, 1.2178583145141602, 0.4479239284992218], "max": [0.4116743206977844, 0.23300693929195404, 1.0719081163406372, -0.9371413588523865, 1.8020248413085938, -1.2295175790786743, 0.4640797972679138, -0.0405706949532032, 1.1408110857009888, 1.2082287073135376, 1.940192461013794, 1.4630202054977417], "mean": [0.392234742641449, 0.21709389984607697, 1.0030028820037842, -1.1161224842071533, 1.6723332405090332, -1.492936611175537, 0.3996727466583252, -0.14297306537628174, 1.0451304912567139, -0.20056183636188507, 1.7057969570159912, 0.7277157306671143], "std": [0.015673687681555748, 0.009160448797047138, 0.01920042745769024, 0.04528309777379036, 0.09056001901626587, 0.04861966520547867, 0.058328621089458466, 0.054982807487249374, 0.047935158014297485, 0.2998924255371094, 0.13040703535079956, 0.16341246664524078], "count": [2978]}, "action.tcp_pose": {"min": [0.3616068363189697, 0.19245298206806183, 0.9695934653282166, -1.2223981618881226, 1.2238293886184692, -1.5676637887954712, 0.23973339796066284, -0.26803669333457947, 0.9373806715011597, -0.6879844665527344, 1.217550277709961, 0.4479004740715027], "max": [0.41167691349983215, 0.2329946905374527, 1.071959137916565, -0.9367423057556152, 1.8019790649414062, -1.232832431793213, 0.4640248715877533, -0.04055098816752434, 1.1407945156097412, 1.2088515758514404, 1.9405467510223389, 1.4708625078201294], "mean": [0.3922589421272278, 0.2170953005552292, 1.0030138492584229, -1.116003155708313, 1.672157883644104, -1.4930835962295532, 0.3997108042240143, -0.1431552916765213, 1.045540690422058, -0.2010350078344345, 1.7044291496276855, 0.7275951504707336], "std": [0.015664061531424522, 0.009158012457191944, 0.01929677650332451, 0.04517911374568939, 0.09089908748865128, 0.04844356328248978, 0.05835585668683052, 0.05518510565161705, 0.04818124324083328, 0.29928332567214966, 0.13225236535072327, 0.1638736128807068], "count": [2978]}, "subtask_index": {"min": [54], "max": [1321], "mean": [1269.2273337810611], "std": [186.1740423402603], "count": [2978]}, "observation.tactile": {"min": [-0.014782155863940716, -4.00166172767058e-05, -8.705069194547832e-05, -0.0016476898454129696, -6.734781345585361e-05, -0.0003534767311066389, -0.011929131112992764, -4.449687912710942e-05, -9.637784387450665e-05, -0.000990538508631289, -0.00010850276157725602, -0.0002120035933330655, -0.011642077006399632, -4.518545028986409e-05, -0.00010118955106008798, -0.000931708374992013, -3.6202993214828894e-05, -0.00025601370725780725, -0.017291555181145668, -3.452734381426126e-05, -7.522867963416502e-05, -0.0012726632412523031, -9.635175047151279e-06, -0.00036740826908499, -0.001721594831906259, -4.7228408220689744e-05, -0.00010602918337099254, -0.0010178701486438513, -1.4304552678368054e-05, -6.175541057018563e-05, -5.279788970947266, -4.16868606407661e-05, -9.198460611514747e-05, -0.3149842917919159, -0.01699492707848549, -0.09376739710569382, -4.529994487762451, -0.7123000025749207, -9.844850865192711e-05, -0.20851776003837585, -0.040918972343206406, -0.07059633731842041, -0.01110480073839426, -5.1131119107594714e-05, -0.00011394700413802639, -0.0014633305836468935, -4.0938077290775254e-05, -0.00026941249961964786, -0.015717502683401108, -5.4306452511809766e-05, -0.00012190311826998368, -0.001903326716274023, -4.562440517474897e-05, -0.000343986670486629, -0.24164405465126038, -4.302079469198361e-05, -9.651082655182108e-05, -0.001655125292018056, -0.0001965478149941191, -0.0029468522407114506], "max": [0.003991091623902321, 0.025525754317641258, 0.0764712318778038, 1.648544639465399e-06, 0.00019083837105426937, 2.4843295250320807e-05, 0.02030646800994873, 0.01774660497903824, 0.054781846702098846, 1.639457764213148e-06, 0.0002957143005914986, 0.00026219181017950177, 0.00882447138428688, 0.016753317788243294, 0.04726872220635414, 1.9186727513442747e-06, 0.0001915781176649034, 9.701350791146979e-05, 0.013007611967623234, 0.022608375176787376, 0.06644465029239655, 1.394531409459887e-06, 0.0002632788091432303, 0.00016958953347057104, 0.018089408054947853, 0.020467257127165794, 0.06414371728897095, 1.9889316718035843e-06, 0.00032970745814964175, 0.00018457297119311988, 10.397711753845215, 23.483118057250977, 21.13213539123535, 1.6965749409791897e-06, 0.07052882015705109, 0.15007001161575317, 4.485719680786133, 16.803436279296875, 16.39156723022461, 1.8678676951822126e-06, 0.003070246195420623, 0.07265325635671616, 0.007218613754957914, 0.023512793704867363, 0.06879886984825134, 2.108499302266864e-06, 0.00023378572950605303, 8.656584395794198e-05, 0.058054618537425995, 0.029097625985741615, 0.11110957711935043, 2.226271590188844e-06, 0.0006149107357487082, 0.000849048956297338, 0.005268408916890621, 0.026338471099734306, 0.07595305144786835, 1.802266751838033e-06, 0.000571811746340245, 4.769175939145498e-05], "mean": [-0.00035316255525685847, 0.0014922136906534433, 0.004441661760210991, -6.852053047623485e-05, 5.699620942323236e-06, -6.560809197253548e-06, 0.00020337861496955156, 0.0003852077934425324, 0.0011748347897082567, -2.114012386300601e-05, 1.472362782806158e-06, 2.7774499358201865e-06, -6.822311320320296e-07, 0.0009487186907790601, 0.002803053241223097, -5.04252384416759e-05, 4.597377937898273e-06, -1.214064013765892e-06, -0.0009434621315449476, 0.001763433450832963, 0.00516281696036458, -9.201424836646765e-05, 1.1601303413044661e-05, -2.063827560050413e-05, 0.00018978913431055844, 0.0015827594324946404, 0.004571190569549799, -6.980857870075852e-05, 1.856652852438856e-05, -1.8911695178758237e-06, 3.1553444862365723, 3.6595919132232666, 8.297200202941895, -0.12462003529071808, 0.014411968179047108, 0.04263715445995331, -1.4436184167861938, 1.1675448417663574, 5.208032131195068, -0.07586498558521271, -0.007038805168122053, -0.019965065643191338, -3.722432302311063e-05, 0.0013338238932192326, 0.003979957662522793, -7.356680725933984e-05, 8.608433745393995e-06, -3.8400248740799725e-06, -0.0001366079959552735, 0.0018432779470458627, 0.00549662671983242, -9.92616915027611e-05, 1.3287383808346931e-05, -7.389747679553693e-06, -0.0007343422621488571, 0.001655430649407208, 0.004813046660274267, -9.834888624027371e-05, 4.360300863481825e-06, -1.549349690321833e-05], "std": [0.0013098962372168899, 0.0029925161506980658, 0.008756235241889954, 0.0001641197595745325, 1.871255153673701e-05, 2.8872545954072848e-05, 0.0011516300728544593, 0.0014284987701103091, 0.004291151650249958, 7.930334686534479e-05, 2.0361723727546632e-05, 1.7542392015457153e-05, 0.0011089969193562865, 0.002151915803551674, 0.006304263602942228, 0.00011995126988040283, 1.82083276740741e-05, 2.139674143109005e-05, 0.0025626071728765965, 0.0036889107432216406, 0.010715886019170284, 0.00019827867799904197, 2.505195516278036e-05, 5.483774657477625e-05, 0.0008410593727603555, 0.0027013192884624004, 0.007793567609041929, 0.00012173788854852319, 3.490125891403295e-05, 1.4944665963412262e-05, 3.2492313385009766, 3.5382368564605713, 7.246886730194092, 0.10692537575960159, 0.016832301393151283, 0.04641072824597359, 1.5448938608169556, 1.7137970924377441, 4.721861362457275, 0.06841978430747986, 0.007464670110493898, 0.02352190390229225, 0.001323128817602992, 0.0029976931400597095, 0.008801298215985298, 0.00017211590602528304, 2.4351866159122437e-05, 2.8407517675077543e-05, 0.0016598883084952831, 0.0031986001413315535, 0.009484216570854187, 0.000194407970411703, 2.6118212190340273e-05, 3.381376518518664e-05, 0.007013724651187658, 0.003542807651683688, 0.010118327103555202, 0.00021290341101121157, 2.0898969523841515e-05, 0.00010468079562997445], "count": [2978]}, "timestamp": {"min": [0.0], "max": [99.23333333333333], "mean": [49.616666666666674], "std": [28.655816745179912], "count": [2978]}, "frame_index": {"min": [0], "max": [2977], "mean": [1488.5], "std": [859.6745023553973], "count": [2978]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [2978]}, "index": {"min": [62041], "max": [65018], "mean": [63529.5], "std": [859.6745023553973], "count": [2978]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2978]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5545458197593689]], [[0.5545954704284668]], [[0.5554349422454834]]], "std": [[[0.2979215681552887]], [[0.2976798713207245]], [[0.29857122898101807]]], "count": [2978]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29974234104156494]], [[0.30474916100502014]], [[0.30379319190979004]]], "std": [[[0.18052667379379272]], [[0.18171611428260803]], [[0.18278957903385162]]], "count": [2978]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3101218342781067]], [[0.3138763904571533]], [[0.3113750219345093]]], "std": [[[0.1849088966846466]], [[0.18453045189380646]], [[0.1844823956489563]]], "count": [2978]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5579255223274231]], [[0.558081328868866]], [[0.5586156249046326]]], "std": [[[0.30197691917419434]], [[0.30156704783439636]], [[0.30263417959213257]]], "count": [2978]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6039215922355652]], [[0.6039215922355652]], [[0.6039215922355652]]], "mean": [[[0.004581566900014877]], [[0.004581566900014877]], [[0.004581566900014877]]], "std": [[[0.04215240851044655]], [[0.04215240851044655]], [[0.04215240851044655]]], "count": [2978]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.492042601108551]], [[0.492042601108551]], [[0.492042601108551]]], "std": [[[0.22234511375427246]], [[0.22234511375427246]], [[0.22234511375427246]]], "count": [2978]}}}
+{"episode_index": 24, "stats": {"observation.state": {"min": [1.050083875656128, -0.7828481197357178, -0.22550620138645172, 1.058768630027771, -0.1539202183485031, -0.7694083452224731, 0.3410969376564026, 0.006922820582985878, -0.0002464435820002109, -0.2478245198726654, 0.005497257225215435, 0.003538892138749361, 0.003655917476862669, -0.07851796597242355, 0.003496344666928053, 0.0008287574164569378, -0.003133398247882724, -0.045145172625780106, 0.0029793917201459408, 0.00083496532170102, -0.0030941481236368418, -0.010877231135964394, 0.0067675416357815266, 0.0008314179140143096, 0.005422385409474373, -0.002210527192801237, -0.003874737536534667, 0.005695343483239412, 0.0008558061672374606, 0.9745010137557983, -1.1529597043991089, -0.2427179366350174, 1.0094393491744995, -1.7486705780029297, -0.7699755430221558, -0.3179660439491272, 0.0055952053517103195, -0.1552964150905609, -0.19901570677757263, -0.14211197197437286, 0.00325807835906744, 0.005289464723318815, -0.03376506641507149, 0.003576121060177684, 0.0007977177738212049, 0.0017265211790800095, -0.09855103492736816, 0.002995701739564538, 0.0008691088296473026, -0.0015965059865266085, -0.13778537511825562, 0.003903737058863044, 0.0008691088296473026, 0.006636160425841808, -0.002041260013356805, -0.1589469611644745, 0.0032212035730481148, 0.001152899581938982, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0011504855938255787, -9.58738019107841e-05, -0.023201460018754005, -0.8138726949691772], "max": [1.2270808219909668, -0.5839554071426392, -0.00023872577003203332, 1.569670557975769, 0.1630464643239975, 0.019095303490757942, 0.6013757586479187, 1.2084708213806152, 0.2975522577762604, 0.0018237695330753922, 0.2521556317806244, 0.5034629702568054, 0.5417719483375549, 0.04958143085241318, 0.06306397169828415, 0.04549030959606171, 0.29078441858291626, 0.15902885794639587, 0.057232119143009186, 0.03616645932197571, 0.1290835738182068, 0.17004148662090302, 0.01866135187447071, 0.01786772534251213, 0.21719829738140106, 0.2670029103755951, 0.23876528441905975, 0.04420193284749985, 0.03622410073876381, 1.5037213563919067, -0.2916301190853119, -0.00011241203173995018, 1.822690725326538, 0.1077040284872055, -0.01769338920712471, 0.6737017035484314, 1.2924141883850098, 0.2717834413051605, 0.38781896233558655, 0.13844265043735504, 0.30534952878952026, 1.063576340675354, 0.08225829899311066, 0.7065856456756592, 0.34450721740722656, 1.3794907331466675, 0.1705983430147171, 1.3774781227111816, 0.5838952660560608, 1.3900939226150513, 0.19098496437072754, 1.5422186851501465, 1.1731435060501099, 0.24244676530361176, 1.2971476316452026, 0.216410294175148, 1.056840181350708, 1.308168888092041, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.00047936898772604764, 9.58738019107841e-05, 0.10479006171226501, -0.5999782085418701], "mean": [1.1528089046478271, -0.6532920598983765, -0.22339513897895813, 1.1575552225112915, -0.06174526736140251, -0.10521087795495987, 0.414360910654068, 1.1211953163146973, 0.2901246249675751, -0.09818915277719498, 0.10167253017425537, 0.4729788303375244, 0.37835821509361267, 0.03843386471271515, 0.04477359354496002, 0.03657436743378639, 0.25843796133995056, 0.14084093272686005, 0.055529359728097916, 0.034494172781705856, 0.10402724891901016, 0.147800013422966, 0.016605792567133904, 0.015536133199930191, 0.10817800462245941, 0.21490871906280518, 0.19928041100502014, 0.03285348415374756, 0.031121402978897095, 1.2735346555709839, -0.5767179727554321, -0.21634018421173096, 1.2706912755966187, -1.43123459815979, -0.2633437216281891, -0.037940893322229385, 1.1910144090652466, 0.01258725393563509, 0.09824496507644653, -0.014456218108534813, 0.12776732444763184, 0.8598726391792297, 0.04014869034290314, 0.24240699410438538, 0.1769077479839325, 1.178454875946045, -0.062083858996629715, 1.2253727912902832, 0.3633117079734802, 1.2975620031356812, -0.09850113838911057, 1.405805230140686, 0.8682332634925842, 0.028214706107974052, 1.1817221641540527, -0.1141410693526268, 0.6394540667533875, 1.2449333667755127, 0.5627029538154602, -1.1068655252456665, 0.5440760850906372, -0.0007419970934279263, -3.275497206800537e-08, 0.06598825007677078, -0.7416415810585022], "std": [0.038889914751052856, 0.03849494457244873, 0.018408983945846558, 0.0693165734410286, 0.025949688628315926, 0.13176673650741577, 0.04938872158527374, 0.11205878108739853, 0.02737417258322239, 0.054629020392894745, 0.04019266739487648, 0.048436619341373444, 0.05621499940752983, 0.015796799212694168, 0.004442553035914898, 0.004820497240871191, 0.04350963607430458, 0.02832707390189171, 0.008791930042207241, 0.0055144173093140125, 0.026195166632533073, 0.02872503735125065, 0.002768819686025381, 0.0030549627263098955, 0.03591939061880112, 0.057415563613176346, 0.03362651914358139, 0.006085781846195459, 0.0070240977220237255, 0.11350435018539429, 0.18686118721961975, 0.02322656847536564, 0.20405778288841248, 0.3103049695491791, 0.1407141387462616, 0.17527146637439728, 0.1312875747680664, 0.07228456437587738, 0.10437420010566711, 0.05829596519470215, 0.07692167907953262, 0.1677936166524887, 0.016541127115488052, 0.14898338913917542, 0.08624494820833206, 0.2033170759677887, 0.03237742930650711, 0.2580524682998657, 0.09196455031633377, 0.24428509175777435, 0.04607002064585686, 0.2938261330127716, 0.24936994910240173, 0.02835986204445362, 0.23220156133174896, 0.05007295310497284, 0.16702398657798767, 0.2680014669895172, 4.265200550435111e-05, 3.407786789466627e-05, 3.3597152651054785e-05, 0.00022743799490854144, 3.0693086046085227e-06, 0.020176472142338753, 0.04264415428042412], "count": [2927]}, "observation.state.joint_torque": {"min": [-31.290000915527344, -9.955499649047852, -15.696000099182129, -8.508999824523926, -0.3479999899864197, -1.0032000541687012, 1.2863999605178833, -0.8354340195655823, -0.41389647126197815, -0.3330408036708832, -0.3404969573020935, -0.10293588042259216, -0.4403941035270691, -0.49796193838119507, -0.09961536526679993, -0.04209667816758156, -0.44902926683425903, -0.39625871181488037, -0.12119869887828827, -0.032821137458086014, -0.26864999532699585, -0.4048939049243927, -0.059769220650196075, -0.03567514568567276, -0.11346868425607681, -0.3876235783100128, -0.4691780209541321, -0.13448072969913483, -0.033534638583660126, 11.3100004196167, -12.700499534606934, 3.9590001106262207, -10.118000030517578, -2.5007998943328857, -2.2871999740600586, -3.0383999347686768, -1.2085776329040527, -0.8532633781433105, -1.4116954803466797, -0.6288009285926819, -0.15440380573272705, -0.400096595287323, -1.0093563795089722, -0.11289741843938828, -0.05850724130868912, -1.4142502546310425, -0.8884638547897339, -0.43000632524490356, -0.052085720002651215, -1.0937892198562622, -0.2820824682712555, -0.6873460412025452, -0.08562035858631134, -0.1803184598684311, -0.9661804437637329, -0.4164074659347534, -0.43996790051460266, -0.07919883728027344, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.27400016784668, 12.946499824523926, -11.13700008392334, 4.848999977111816, 1.8711999654769897, 1.3631999492645264, 2.590399980545044, 0.2941848635673523, 0.2559790313243866, 0.3119150698184967, 0.5244150161743164, 0.08633331209421158, 0.47493481636047363, 0.3569207191467285, 0.10293588042259216, 0.019264578819274902, 0.33485302329063416, 0.23602819442749023, 0.10791664570569992, 0.012843053787946701, 0.30894747376441956, 0.5238674879074097, 0.1145576685667038, 0.015697065740823746, 0.06113235652446747, 0.2389066070318222, 0.4643807113170624, 0.05644870921969414, 0.014270060695707798, 38.43149948120117, 11.864999771118164, 19.764999389648438, 3.6670000553131104, 0.46959999203681946, 2.9047999382019043, 0.48240000009536743, 2.1688175201416016, 4.329993724822998, 1.8764612674713135, 1.33340585231781, 0.5744485855102539, 2.1405646800994873, 0.9613832235336304, 1.0609036684036255, 0.21333740651607513, 0.6716249585151672, 0.33101513981819153, 0.1859486699104309, 0.025686107575893402, 0.7819633483886719, 0.4221642315387726, 0.36857688426971436, 0.04352368041872978, 0.13413932919502258, 0.707125186920166, 0.4192858934402466, 0.1593845784664154, 0.07777182012796402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.424352645874023, 2.1474945545196533, -13.007949829101562, -1.5727876424789429, -0.0444214828312397, 0.014140871353447437, 1.7224637269973755, 0.00467509962618351, -0.0036761281080543995, 0.022379089146852493, -0.004812418948858976, 0.003608683357015252, 0.009309111163020134, 7.309848297154531e-05, -0.0004554787010420114, 0.0001711234071990475, -0.002317529870197177, 0.00012783767306245863, -1.0209471838606987e-05, -0.00013894643052481115, 0.013892683200538158, 0.01286606676876545, 0.0017300269100815058, -9.75063958321698e-05, -0.005200955085456371, 0.004737641662359238, -0.006237654481083155, -0.0009024477330967784, 6.362259591696784e-05, 28.011001586914062, 0.5894079208374023, 12.820185661315918, -1.814213752746582, -0.4907643496990204, 1.5603028535842896, -0.7217621207237244, 0.1411774903535843, 0.9153767824172974, 0.20048759877681732, 0.07492910325527191, 0.0684879943728447, 0.48447108268737793, -0.06798239052295685, 0.22490541636943817, 0.06081846356391907, -0.06713368743658066, -0.10037485510110855, 0.001267740037292242, -0.0010423428611829877, -0.004645880777388811, -0.00206742063164711, 0.00043279072269797325, -0.0030139321461319923, -0.0008164953324012458, -0.016926812008023262, 0.007165657822042704, -0.015540163032710552, 0.002497874666005373, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.5970545411109924, 0.8891839385032654, 0.5368967652320862, 0.6566405296325684, 0.22910001873970032, 0.3061232566833496, 0.16326715052127838, 0.04398656636476517, 0.0243696216493845, 0.06063483655452728, 0.058198295533657074, 0.011008646339178085, 0.05623317137360573, 0.04562528803944588, 0.007904907688498497, 0.003800562582910061, 0.038696322590112686, 0.04463065043091774, 0.010749350301921368, 0.0027731209993362427, 0.053401846438646317, 0.061371926218271255, 0.009552457369863987, 0.0034034771379083395, 0.014133469201624393, 0.03677405044436455, 0.05672087520360947, 0.006077025085687637, 0.0036967862397432327, 4.09607458114624, 2.0259392261505127, 1.486413598060608, 1.6964969635009766, 0.31292271614074707, 0.6566977500915527, 0.4763019382953644, 0.43036407232284546, 1.026525855064392, 0.33193105459213257, 0.20567451417446136, 0.094913050532341, 0.6331280469894409, 0.2827337980270386, 0.250413179397583, 0.06470523774623871, 0.17246679961681366, 0.15193234384059906, 0.02328699640929699, 0.007874660193920135, 0.07118798047304153, 0.04944166541099548, 0.02529476210474968, 0.008973011747002602, 0.02205764688551426, 0.11377034336328506, 0.08477991074323654, 0.03457704558968544, 0.004979205317795277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2927]}, "observation.state.tcp": {"min": [0.3616759777069092, 0.19244225323200226, 0.9618862867355347, -1.2085195779800415, 1.2179453372955322, -1.5443668365478516, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24461036920547485, -0.2631799578666687, 0.9604304432868958, -0.8036065101623535, 1.2178843021392822, 0.3785480260848999, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41812431812286377, 0.24669237434864044, 1.0518004894256592, -0.8890601992607117, 1.771148681640625, -1.229254126548767, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4739684760570526, -0.037952322512865067, 1.172711730003357, 1.2087825536727905, 1.9632328748703003, 1.5784777402877808, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4085519015789032, 0.21444131433963776, 0.9947596192359924, -1.053691029548645, 1.6704041957855225, -1.4382776021957397, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40611663460731506, -0.13484445214271545, 1.061195969581604, -0.33604443073272705, 1.7221484184265137, 0.6198230385780334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00732268625870347, 0.009993154555559158, 0.021421251818537712, 0.039223406463861465, 0.09782782942056656, 0.07357058674097061, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05973581597208977, 0.062266457825899124, 0.04916369169950485, 0.31266024708747864, 0.12847742438316345, 0.1827111691236496, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2927]}, "action": {"min": [1.0499999523162842, -0.7828487157821655, -0.22549518942832947, 1.0587557554244995, -0.15391820669174194, -0.7699999809265137, 0.34111249446868896, 0.0, 0.0, -0.24872826039791107, 0.0, 0.0, 0.0, -0.08649271726608276, 0.0, 0.0, 0.0, -0.0641598254442215, 0.0, 0.0, 0.0, -0.02494049072265625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.974482536315918, -1.1530133485794067, -0.24272048473358154, 1.00941002368927, -1.7486560344696045, -0.7678911685943604, -0.31807541847229004, 0.0, -0.1543361395597458, -0.19804197549819946, -0.14429457485675812, 0.0, 0.0, -0.03320823609828949, 0.0, 0.0, 0.0, -0.10640284419059753, 0.0, 0.0, 0.0, -0.14220626652240753, 0.0, 0.0, -8.229939396642294e-09, 0.0, -0.16104666888713837, 0.0, 0.0, 0.5625877976417542, -1.1069586277008057, 0.5439886450767517, -0.001165621797554195, -4.536868800641969e-05, -0.0231171827763319, -0.8144028782844543], "max": [1.2270855903625488, -0.5839554071426392, 0.0, 1.5700000524520874, 0.16308145225048065, 0.019115105271339417, 0.6014041900634766, 1.2199956178665161, 0.2951412498950958, 0.0, 0.25327450037002563, 0.5103822350502014, 0.5455409288406372, 0.04937645420432091, 0.06738598644733429, 0.04859883710741997, 0.29451844096183777, 0.16178420186042786, 0.06446970254182816, 0.040306515991687775, 0.12777695059776306, 0.17756780982017517, 0.022355297580361366, 0.021095123142004013, 0.2291712611913681, 0.2713221311569214, 0.2419738918542862, 0.04867296293377876, 0.0401228703558445, 1.5037158727645874, -0.29159122705459595, -0.0013866402441635728, 1.8228225708007812, 0.10786254703998566, -0.017631271854043007, 0.6763966083526611, 1.2949527502059937, 0.28428396582603455, 0.38898321986198425, 0.14406819641590118, 0.307794451713562, 1.0693721771240234, 0.07334768772125244, 0.7199297547340393, 0.34561556577682495, 1.391814947128296, 0.17146366834640503, 1.3816674947738647, 0.5854793787002563, 1.398486614227295, 0.19238486886024475, 1.5468796491622925, 1.1740901470184326, 0.26179999113082886, 1.305153250694275, 0.21670782566070557, 1.0614323616027832, 1.3811308145523071, 0.5626999735832214, -1.106863021850586, 0.5442571043968201, 0.0004226944874972105, 1.9187269572285004e-05, 0.1052512675523758, -0.6000000238418579], "mean": [1.1528615951538086, -0.6533282399177551, -0.22341473400592804, 1.15760338306427, -0.06177555024623871, -0.10537644475698471, 0.41440173983573914, 1.131042718887329, 0.2897389531135559, -0.09577535092830658, 0.1016610786318779, 0.47838395833969116, 0.3827352225780487, 0.038665398955345154, 0.044627901166677475, 0.03942028805613518, 0.2598717510700226, 0.14354459941387177, 0.05353403463959694, 0.03692171722650528, 0.10261255502700806, 0.15306539833545685, 0.019152257591485977, 0.01809680461883545, 0.10814116150140762, 0.21724991500377655, 0.20049606263637543, 0.0367264524102211, 0.03474530577659607, 1.2742632627487183, -0.5774041414260864, -0.21636800467967987, 1.2714425325393677, -1.4312841892242432, -0.263540655374527, -0.03785955533385277, 1.190677523612976, 0.016046635806560516, 0.09706323593854904, -0.014681638218462467, 0.12821662425994873, 0.8608937859535217, 0.039084408432245255, 0.2436223328113556, 0.17798158526420593, 1.176281213760376, -0.06221819296479225, 1.2246507406234741, 0.36301642656326294, 1.2954658269882202, -0.09815283864736557, 1.4045461416244507, 0.8678243160247803, 0.029810694977641106, 1.179316759109497, -0.11426971852779388, 0.6372473835945129, 1.2833489179611206, 0.5627058744430542, -1.1068748235702515, 0.5441325902938843, -0.0007871814304962754, 2.3611535482359614e-07, 0.06602796912193298, -0.7416900396347046], "std": [0.03890308365225792, 0.038522858172655106, 0.01837584190070629, 0.069358691573143, 0.02599676325917244, 0.13212674856185913, 0.049465905874967575, 0.12283708155155182, 0.03060544654726982, 0.05655357241630554, 0.040536366403102875, 0.05398867279291153, 0.05822550877928734, 0.01600668393075466, 0.005458286497741938, 0.004956385120749474, 0.044604383409023285, 0.02997729554772377, 0.00905253179371357, 0.006084964610636234, 0.0242132768034935, 0.030519865453243256, 0.004000719171017408, 0.003768258262425661, 0.03482019528746605, 0.05731477588415146, 0.03348378464579582, 0.008157612755894661, 0.00743049755692482, 0.11339522153139114, 0.18752917647361755, 0.023174570873379707, 0.20474231243133545, 0.31212711334228516, 0.14071767032146454, 0.17566585540771484, 0.13905291259288788, 0.07411064952611923, 0.10447830706834793, 0.05871877819299698, 0.07727652043104172, 0.17085690796375275, 0.01589386910200119, 0.1490800678730011, 0.08691351860761642, 0.20492693781852722, 0.03241966292262077, 0.2583060562610626, 0.09215967357158661, 0.24490579962730408, 0.045813996344804764, 0.29443734884262085, 0.24959401786327362, 0.03271188586950302, 0.23225022852420807, 0.050025857985019684, 0.1672895848751068, 0.27777522802352905, 2.2907617676537484e-05, 1.2489872460719198e-05, 2.16420794458827e-05, 0.00022678817913401872, 6.536183263960993e-06, 0.020231688395142555, 0.04272717237472534], "count": [2927]}, "observation.state.tcp_pose": {"min": [0.3616759777069092, 0.19244225323200226, 0.9618862867355347, -1.2085195779800415, 1.2179453372955322, -1.5443668365478516, 0.24461036920547485, -0.2631799578666687, 0.9604304432868958, -0.8036065101623535, 1.2178843021392822, 0.3785480260848999], "max": [0.41812431812286377, 0.24669237434864044, 1.0518004894256592, -0.8890601992607117, 1.771148681640625, -1.229254126548767, 0.4739684760570526, -0.037952322512865067, 1.172711730003357, 1.2087825536727905, 1.9632328748703003, 1.5784777402877808], "mean": [0.4085519015789032, 0.21444131433963776, 0.9947596192359924, -1.053691029548645, 1.6704041957855225, -1.4382776021957397, 0.40611663460731506, -0.13484445214271545, 1.061195969581604, -0.33604443073272705, 1.7221484184265137, 0.6198230385780334], "std": [0.00732268625870347, 0.009993154555559158, 0.021421251818537712, 0.039223406463861465, 0.09782782942056656, 0.07357058674097061, 0.05973581597208977, 0.062266457825899124, 0.04916369169950485, 0.31266024708747864, 0.12847742438316345, 0.1827111691236496], "count": [2927]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.1924280971288681, 0.9618221521377563, -1.208855390548706, 1.2178406715393066, -1.5442532300949097, 0.24456094205379486, -0.2677852213382721, 0.960331380367279, -0.8037516474723816, 1.2187200784683228, 0.3779873549938202], "max": [0.4180765748023987, 0.24670827388763428, 1.0518072843551636, -0.8890882730484009, 1.7713077068328857, -1.2289543151855469, 0.4738827049732208, -0.037922803312540054, 1.1729999780654907, 1.207960844039917, 1.9645402431488037, 1.5786762237548828], "mean": [0.40856316685676575, 0.21445687115192413, 0.9947554469108582, -1.053667664527893, 1.6702889204025269, -1.4381961822509766, 0.4061029851436615, -0.1349824219942093, 1.0615774393081665, -0.3361690640449524, 1.7208179235458374, 0.6199067234992981], "std": [0.007308206055313349, 0.01000282820314169, 0.021458391100168228, 0.039217039942741394, 0.09804865717887878, 0.07370810955762863, 0.05976798012852669, 0.06250045448541641, 0.04926241934299469, 0.3145006597042084, 0.1303708851337433, 0.18311962485313416], "count": [2927]}, "subtask_index": {"min": [54], "max": [1382], "mean": [1311.8312265117868], "std": [206.44212444021215], "count": [2927]}, "observation.tactile": {"min": [-0.012758033350110054, -4.314100442570634e-05, -9.439426503377035e-05, -0.0011958909453824162, -7.703251321800053e-05, -0.00021682208171114326, -0.0053877029567956924, -5.060174589743838e-05, -0.00011459877714514732, -0.0004402136255521327, -7.816166544216685e-06, -0.00010085118265124038, -0.011298484168946743, -4.649730180972256e-05, -0.00010274449596181512, -0.0016394553240388632, -4.9593661969993263e-05, -0.00026947149308398366, -0.004149275831878185, -3.296813883935101e-05, -7.241741695906967e-05, -0.0011969441547989845, -2.1606338123092428e-05, -9.571456030244008e-05, -0.005007386207580566, -4.9124158977065235e-05, -0.00011019286466762424, -0.0006743779522366822, -7.473741425201297e-05, -7.53604545025155e-05, -2.4783787727355957, -3.472221942502074e-05, -7.965939585119486e-05, -0.15338973701000214, -0.015356453135609627, -0.03956393525004387, -5.565711498260498, -0.11727482080459595, -8.728716056793928e-05, -0.1600828617811203, -0.0181826613843441, -0.08464323729276657, -0.00856654904782772, -4.880047345068306e-05, -0.00010905115050263703, -0.0014848849968984723, -3.0021656129974872e-05, -0.0001714504323899746, -0.010736463591456413, -5.7004559494089335e-05, -0.00012765491555910558, -0.0015273269964382052, -2.2803869796916842e-05, -0.00027615230646915734, -0.011605551466345787, -4.207713936921209e-05, -9.334674541605636e-05, -0.0013721653958782554, -8.071111369645223e-05, -0.000147410377394408], "max": [0.01467957440763712, 0.020913807675242424, 0.059651102870702744, 1.7750871847965755e-06, 0.00031107949325814843, 0.00013727429904974997, 0.00039117486448958516, 0.009169800207018852, 0.027271585538983345, 1.958364009624347e-06, 6.56082047498785e-05, 7.030534561636159e-06, 0.0037985150702297688, 0.026644090190529823, 0.07677947729825974, 1.923981926665874e-06, 0.00016896994202397764, 3.4246480936417356e-05, 0.017888907343149185, 0.018564485013484955, 0.05881287530064583, 1.3555577424995136e-06, 0.0003406922041904181, 0.0002591399534139782, 0.008650774136185646, 0.013345405459403992, 0.039238106459379196, 2.0642419258365408e-06, 0.00022904745128471404, 8.413619070779532e-05, 3.5926620960235596, 5.3845391273498535, 9.473026275634766, 1.4886962844684604e-06, 0.020487066358327866, 0.06439473479986191, 0.00028213049517944455, 9.73940658569336, 10.676365852355957, 1.6495442878294853e-06, 0.004956764634698629, 0.00026574876392260194, 0.057360727339982986, 0.029018867760896683, 0.09389042109251022, 2.004909674724331e-06, 0.0004464336670935154, 0.0007810057140886784, 0.0020003649406135082, 0.023039288818836212, 0.07029862701892853, 2.35041306950734e-06, 0.00014691839169245213, 9.199550731864292e-06, 0.01868005283176899, 0.020930496975779533, 0.0623185932636261, 1.7147995095001534e-06, 0.0003141677298117429, 0.00019993461319245398], "mean": [-6.655650940956548e-05, 0.0008934132056310773, 0.002744178520515561, -4.586855720845051e-05, 4.1953608160838485e-06, -1.3988842511025723e-06, -0.00040627512498758733, 0.0016547578852623701, 0.0050040544010698795, -8.215945126721635e-05, 6.160340944916243e-06, -8.235047062044032e-06, -9.861400030786172e-06, 0.0009326633298769593, 0.0027747584972530603, -5.3466625104192644e-05, 1.165599314845167e-06, -1.992303850784083e-07, 0.0003557274758350104, 0.0006119157187640667, 0.0018387965392321348, -3.181345164193772e-05, 8.186095328710508e-06, 4.313058070692932e-06, 0.00018916241242550313, 0.0005020482349209487, 0.0014893675688654184, -2.008270712394733e-05, -1.6056256981755723e-06, 5.317329851095565e-06, 0.8038381338119507, 1.4824100732803345, 2.9505319595336914, -0.04844626784324646, 0.0024871109053492546, 0.013113927096128464, -1.3493626117706299, 0.7597790360450745, 3.044889211654663, -0.04593275487422943, -0.00460977666079998, -0.01976747065782547, 0.0052504707127809525, 0.006602573674172163, 0.020618241280317307, -0.0003234636678826064, 0.00010759512224467471, 5.003554542781785e-05, 0.0002490186016075313, 0.0004106529522687197, 0.00128480966668576, -1.7743288481142372e-05, 2.91636433757958e-06, 4.350014933152124e-06, 0.0003967496450059116, 0.001150729600340128, 0.0034634247422218323, -6.553863931912929e-05, 1.3751656297245063e-05, 2.847999667210388e-06], "std": [0.0012963240733370185, 0.0023521259427070618, 0.006964228115975857, 0.00012549887469504029, 2.8209626179886982e-05, 1.9393819457036443e-05, 0.0006391526549123228, 0.0018962804460898042, 0.0056245895102620125, 9.193077130476013e-05, 7.3015371526707895e-06, 1.269357198907528e-05, 0.0008487909799441695, 0.0021130735985934734, 0.006170795764774084, 0.000123018937301822, 1.7128395484178327e-05, 1.5913043171167374e-05, 0.0010365406051278114, 0.0019676650408655405, 0.005902841687202454, 0.00010988780559273437, 3.195125100319274e-05, 1.4444834050664213e-05, 0.0006718037184327841, 0.0015022344887256622, 0.004367566201835871, 6.161476630950347e-05, 1.7650732843321748e-05, 7.036450824671192e-06, 1.0505764484405518, 1.4066414833068848, 2.57021164894104, 0.04300323501229286, 0.004731041844934225, 0.01802663691341877, 1.2733012437820435, 1.0957080125808716, 2.8096513748168945, 0.04401835799217224, 0.004678201396018267, 0.02001577988266945, 0.008404594846069813, 0.007038298062980175, 0.022612476721405983, 0.00035553015186451375, 0.00012033460370730609, 0.00010340222070226446, 0.0005169113865122199, 0.0013687617611140013, 0.004116472322493792, 7.334020483540371e-05, 1.247236014023656e-05, 1.2690530638792552e-05, 0.0013317210832610726, 0.0024653614964336157, 0.007436302024871111, 0.00014184477913659066, 3.620426286943257e-05, 1.7657424905337393e-05], "count": [2927]}, "timestamp": {"min": [0.0], "max": [97.53333333333333], "mean": [48.766666666666666], "std": [28.165068988218565], "count": [2927]}, "frame_index": {"min": [0], "max": [2926], "mean": [1463.0], "std": [844.9520696465569], "count": [2927]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [2927]}, "index": {"min": [65019], "max": [67945], "mean": [66482.0], "std": [844.9520696465569], "count": [2927]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2927]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.561880886554718]], [[0.5624526143074036]], [[0.5632270574569702]]], "std": [[[0.30382266640663147]], [[0.30303430557250977]], [[0.30380159616470337]]], "count": [2927]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2991943657398224]], [[0.30433493852615356]], [[0.30307939648628235]]], "std": [[[0.17997463047504425]], [[0.1807708740234375]], [[0.18188393115997314]]], "count": [2927]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.311151385307312]], [[0.3144674301147461]], [[0.3113233149051666]]], "std": [[[0.184730663895607]], [[0.1842014342546463]], [[0.18354204297065735]]], "count": [2927]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5662975311279297]], [[0.5665532946586609]], [[0.5668718218803406]]], "std": [[[0.3090207576751709]], [[0.30860158801078796]], [[0.30955204367637634]]], "count": [2927]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5490196347236633]], [[0.5490196347236633]], [[0.5490196347236633]]], "mean": [[[0.002252237405627966]], [[0.002252237405627966]], [[0.002252237405627966]]], "std": [[[0.027042236179113388]], [[0.027042236179113388]], [[0.027042236179113388]]], "count": [2927]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4928893446922302]], [[0.4928893446922302]], [[0.4928893446922302]]], "std": [[[0.22228609025478363]], [[0.22228609025478363]], [[0.22228609025478363]]], "count": [2927]}}}
+{"episode_index": 25, "stats": {"observation.state": {"min": [1.0500684976577759, -0.7799689769744873, -0.22540073096752167, 1.022550344467163, -0.11134292185306549, -0.769934892654419, 0.4002673625946045, 0.006877109408378601, -0.0002251237165182829, -0.2272588610649109, 0.004026725888252258, 0.0035087543074041605, 0.0036941864527761936, -0.018051445484161377, 0.003472588723525405, 0.0008429468725807965, -0.0015089275548234582, -0.013096834532916546, 0.003019812051206827, 0.0008438337245024741, -0.0033463274594396353, -0.01854771561920643, 0.006815407890826464, 0.0008429468725807965, 0.005729575175791979, -0.002608178649097681, 0.0043999552726745605, 0.005724772345274687, 0.000848267984110862, 0.9169332385063171, -1.1871076822280884, -0.24207571148872375, 0.9806386828422546, -1.849899172782898, -0.7691910266876221, -0.305335134267807, 0.00551227480173111, -0.1916435807943344, -0.2795026898384094, -0.12714225053787231, 0.0032499232329428196, 0.0053615872748196125, -0.07288554310798645, 0.0035208093468099833, 0.0008336350438185036, 0.005323317833244801, -0.09652719646692276, 0.0030474679078906775, 0.0008633443503640592, -0.0018020765855908394, -0.13567987084388733, 0.004796880763024092, 0.0009356223163194954, 0.006675763055682182, -0.0017199006397277117, -0.15363408625125885, 0.003199220634996891, 0.0008762036450207233, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0007669904152862728, -9.58738019107841e-05, 0.0, -0.7651687860488892], "max": [1.2709975242614746, -0.5483129620552063, -0.0003544933570083231, 1.569825530052185, 0.011187034659087658, -0.09446864575147629, 0.5819182991981506, 1.1919074058532715, 0.29394903779029846, 0.0003564581857062876, 0.2555951774120331, 0.4111865758895874, 0.2924743890762329, 0.054193343967199326, 0.02619014121592045, 0.026983169838786125, 0.15966543555259705, 0.14054858684539795, 0.030242085456848145, 0.02226603776216507, 0.0024075123947113752, 0.13239361345767975, 0.006863628048449755, 0.0017444256227463484, 0.24102427065372467, 0.022824766114354134, 0.24416586756706238, 0.005783275235444307, 0.003780623432248831, 1.385111689567566, -0.33522939682006836, -0.0007117431377992034, 1.7501927614212036, 0.13838328421115875, -0.10668860375881195, 0.6981765031814575, 1.3387526273727417, 0.21264347434043884, 0.34363919496536255, 0.25396081805229187, 0.6610165238380432, 1.183432936668396, 0.07890579849481583, 0.7422986030578613, 0.3721080720424652, 1.2740483283996582, 0.17247527837753296, 1.4177707433700562, 0.7707128524780273, 1.4167916774749756, 0.19957660138607025, 1.55303955078125, 1.094915747642517, 0.24193407595157623, 1.4006940126419067, 0.24854865670204163, 1.3129884004592896, 1.310996174812317, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.0003834952076431364, 0.0, 0.11198059469461441, -0.5971978902816772], "mean": [1.1753772497177124, -0.6357576251029968, -0.22281353175640106, 1.1776235103607178, -0.04363801330327988, -0.1964496523141861, 0.4338729679584503, 1.156785488128662, 0.2856394648551941, -0.17652149498462677, 0.20454004406929016, 0.3988611698150635, 0.27094218134880066, 0.04589001461863518, 0.02504919469356537, 0.02565336972475052, 0.14468246698379517, 0.13184520602226257, 0.029136063531041145, 0.020822610706090927, -0.00017726542137097567, 0.1183239221572876, 0.006838717497885227, 0.0016219402896240354, 0.2374182790517807, 0.01326856017112732, 0.2339155524969101, 0.005749326664954424, 0.003086827462539077, 1.2132115364074707, -0.6267125010490417, -0.21392107009887695, 1.2651596069335938, -1.3810057640075684, -0.44002729654312134, 0.054491400718688965, 1.1961090564727783, 0.022448593750596046, 0.0340183824300766, 0.0035547022707760334, 0.1530323177576065, 0.9080812335014343, 0.03882360830903053, 0.18591047823429108, 0.1822461038827896, 1.169467568397522, -0.059959571808576584, 1.2256163358688354, 0.44589588046073914, 1.2761085033416748, -0.0988127738237381, 1.3870664834976196, 0.8594119548797607, 0.03163636103272438, 1.1897313594818115, -0.11499351263046265, 0.8277099132537842, 1.2465224266052246, 0.5626962780952454, -1.1068578958511353, 0.5440809726715088, -0.000468634651042521, -7.861730466629524e-08, 0.08609531819820404, -0.7263693809509277], "std": [0.05153874680399895, 0.05082704499363899, 0.019992927089333534, 0.10706623643636703, 0.021881312131881714, 0.10903610289096832, 0.03056294098496437, 0.12121225893497467, 0.03296436741948128, 0.0245562344789505, 0.024412700906395912, 0.046543706208467484, 0.03906090557575226, 0.012208201922476292, 0.0034800232388079166, 0.003427086630836129, 0.027190076187253, 0.02461743727326393, 0.004830562975257635, 0.003704755799844861, 0.0016571899177506566, 0.023131495341658592, 7.740683940937743e-06, 0.00016102784138638526, 0.02686666138470173, 0.004689545836299658, 0.03667568787932396, 6.856756499473704e-06, 0.0006632932345382869, 0.10926423966884613, 0.17034566402435303, 0.022896582260727882, 0.2050832062959671, 0.34531769156455994, 0.11051878333091736, 0.19896674156188965, 0.15001259744167328, 0.08752649277448654, 0.14321216940879822, 0.06809341907501221, 0.1508762687444687, 0.20064207911491394, 0.02344180829823017, 0.15683850646018982, 0.09675316512584686, 0.21740010380744934, 0.030835794284939766, 0.26880136132240295, 0.1703818291425705, 0.2556440234184265, 0.04258366674184799, 0.3016585409641266, 0.21944300830364227, 0.03178362920880318, 0.24211575090885162, 0.0533825159072876, 0.21253448724746704, 0.2667716145515442, 4.3781899876194075e-05, 3.8764948840253055e-05, 4.5917986426502466e-05, 0.0001413080608472228, 2.7442447390058078e-06, 0.01740783266723156, 0.0295643862336874], "count": [2439]}, "observation.state.joint_torque": {"min": [-38.704498291015625, -3.9240000247955322, -21.160999298095703, -6.489999771118164, -0.2648000121116638, -0.5824000239372253, 0.9391999840736389, -0.5106845498085022, -0.28781720995903015, -0.4386694133281708, -0.3852337598800659, -0.09961536526679993, -0.47013747692108154, -0.4087317883968353, -0.08135254681110382, -0.04138316959142685, -0.35404229164123535, -0.5056376457214355, -0.11621791869401932, -0.032821137458086014, -0.22643354535102844, -0.38666409254074097, -0.0016602561809122562, -0.0321076326072216, -0.10291345417499542, -0.14296017587184906, -0.46821853518486023, -0.0016602561809122562, -0.02996712550520897, 6.861000061035156, -3.4154999256134033, 0.382999986410141, -8.442999839782715, -2.2207999229431152, -2.928800106048584, -3.0727999210357666, -1.5511565208435059, -0.8927428126335144, -0.5517541766166687, -0.7804090976715088, -0.30382686853408813, -0.4806915819644928, -1.0889918804168701, -0.20587176084518433, -0.05993425101041794, -0.7291927933692932, -1.1129785776138306, -0.14444229006767273, -0.03139413148164749, -0.3386908769607544, -0.9383559823036194, -0.10459613054990768, -0.039242662489414215, -0.15217117965221405, -0.5430567860603333, -1.011275291442871, -0.6391986012458801, -0.06064775213599205, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.33099937438965, 11.73900032043457, -10.0, 3.13700008392334, 1.7239999771118164, 1.1799999475479126, 2.540800094604492, 0.277629017829895, 0.27508193254470825, 0.3280700147151947, 0.34298232197761536, 0.09463459998369217, 0.29743391275405884, 0.31374481320381165, 0.08633331209421158, 0.016410568729043007, 0.364596426486969, 0.20628482103347778, 0.1328205019235611, 0.014270060695707798, 0.238906592130661, 0.3876235783100128, 0.0016602561809122562, 0.0007135029300116003, 0.06816916912794113, 0.1822982132434845, 0.3482855260372162, 0.0016602561809122562, 0.010702544823288918, 37.807498931884766, 13.1850004196167, 21.586999893188477, 2.053999900817871, 0.504800021648407, 3.898400068283081, 0.6855999827384949, 2.349658250808716, 4.468808174133301, 2.3014609813690186, 1.357016921043396, 0.614294707775116, 2.1463215351104736, 0.6869763731956482, 1.0592433214187622, 0.21405088901519775, 0.9191667437553406, 0.20916318893432617, 0.6325575709342957, 0.20192134380340576, 0.4547860026359558, 0.29935282468795776, 0.4034422039985657, 0.20120783150196075, 0.10599205642938614, 0.9613831043243408, 0.4451914131641388, 0.77201908826828, 0.20049433410167694, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.81418228149414, 1.7366526126861572, -13.275006294250488, -1.5336105823516846, 0.12941484153270721, 0.1126328632235527, 1.7573734521865845, -0.0015340781537815928, -0.0005346772377379239, 0.01085865218192339, 0.00468644592911005, 0.00165277230553329, 0.01669134758412838, 0.008309836499392986, 0.0006555262953042984, 7.840035686967894e-05, 0.002499545458704233, -0.0010857341112568974, 0.0003743923734873533, -9.185710950987414e-05, 0.005898401141166687, 0.009833019226789474, 4.764982350025093e-06, -0.0013486065436154604, -0.00045224279165267944, 0.00290474621579051, 0.008622173219919205, 0.0, -0.0008524592267349362, 27.296785354614258, 1.3211040496826172, 12.4708890914917, -2.0994834899902344, -0.3976254463195801, 1.579267978668213, -0.8713340163230896, 0.24420231580734253, 1.2256189584732056, 0.3595326840877533, 0.11138726025819778, 0.11991080641746521, 0.6172377467155457, -0.061214134097099304, 0.35843488574028015, 0.08658978343009949, -0.06374967098236084, -0.19484788179397583, 0.001173548516817391, -0.0004546068958006799, -0.009936880320310593, -0.005382286384701729, -0.0030053420923650265, -0.0032957575749605894, -0.004597804509103298, -0.03206673637032509, 0.009237058460712433, -0.02060650661587715, 0.0015372962225228548, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7249868512153625, 0.9782872796058655, 0.8467282652854919, 0.6750118136405945, 0.19254587590694427, 0.3080075681209564, 0.17324963212013245, 0.034920450299978256, 0.02364552766084671, 0.0524262934923172, 0.05087156221270561, 0.00993439368903637, 0.06056910753250122, 0.043448932468891144, 0.006306697614490986, 0.003966914489865303, 0.03916436806321144, 0.03281527757644653, 0.011000425554811954, 0.0030583946499973536, 0.030788976699113846, 0.05300844833254814, 0.00017461605602875352, 0.004505307879298925, 0.006296456325799227, 0.018980687484145164, 0.056039806455373764, 4.754274050355889e-05, 0.004390241112560034, 4.571930408477783, 2.185243844985962, 1.7826735973358154, 1.6664128303527832, 0.36113598942756653, 0.7286140322685242, 0.49138343334198, 0.6106163263320923, 1.2734485864639282, 0.5203048586845398, 0.28701406717300415, 0.1443946212530136, 0.7359427809715271, 0.28307411074638367, 0.3700120449066162, 0.08540044724941254, 0.17168745398521423, 0.2050754427909851, 0.026822403073310852, 0.009166663512587547, 0.07363497465848923, 0.05574337765574455, 0.02483443357050419, 0.009880374185740948, 0.023335980251431465, 0.12750598788261414, 0.09714838117361069, 0.051933545619249344, 0.006456532049924135, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2439]}, "observation.state.tcp": {"min": [0.36166831851005554, 0.18972085416316986, 0.9660174250602722, -1.2085646390914917, 1.2179685831069946, -1.4596434831619263, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23706179857254028, -0.3071836829185486, 0.9413802623748779, -0.611602783203125, 1.2096142768859863, 0.42209407687187195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41960522532463074, 0.22660724818706512, 1.070461630821228, -0.8975052833557129, 1.6587754487991333, -1.171296238899231, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4684019684791565, -0.07126128673553467, 1.133239507675171, 1.208343744277954, 1.8062156438827515, 1.5145570039749146, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4137427806854248, 0.20325496792793274, 1.0084319114685059, -1.044988989830017, 1.5979543924331665, -1.4129979610443115, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39793434739112854, -0.16189225018024445, 1.0436973571777344, -0.22813332080841064, 1.6013785600662231, 0.7007165551185608, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.006864040624350309, 0.007401323411613703, 0.02852659672498703, 0.04873529449105263, 0.06679118424654007, 0.03587830811738968, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06057288125157356, 0.05856356769800186, 0.04571087658405304, 0.30243271589279175, 0.11689501255750656, 0.1741836965084076, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2439]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.22539930045604706, 1.02255117893219, -0.11132820695638657, -0.7699999809265137, 0.40027111768722534, 0.0, 0.0, -0.2280925065279007, 0.0, 0.0, 0.0, -0.01762419007718563, 0.0, 0.0, 0.0, -0.011295267380774021, 0.0, 0.0, 0.0, -0.025629861280322075, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9169403314590454, -1.1882350444793701, -0.24205690622329712, 0.9805164337158203, -1.8499020338058472, -0.767704427242279, -0.30534300208091736, 0.0, -0.19430582225322723, -0.2783390283584595, -0.13238726556301117, 0.0, 0.0, -0.08739663660526276, 0.0, 0.0, 0.0, -0.09919650852680206, 0.0, 0.0, 0.0, -0.13810373842716217, 0.0, 0.0, -6.30680574431608e-09, 0.0, -0.15820355713367462, 0.0, 0.0, 0.5625874400138855, -1.1068999767303467, 0.5439879298210144, -0.0007530704606324434, -3.434555037529208e-05, 4.084842108281035e-20, -0.765259325504303], "max": [1.2709956169128418, -0.5483140349388123, 7.435342892143179e-18, 1.5700000524520874, 0.011233121156692505, -0.09448212385177612, 0.5819478631019592, 1.203179955482483, 0.29230692982673645, 0.0, 0.2598080635070801, 0.414995402097702, 0.2993403971195221, 0.05761081352829933, 0.031101757660508156, 0.03045554831624031, 0.16786712408065796, 0.1453094482421875, 0.03802073746919632, 0.02641967497766018, 0.00036077946424484253, 0.1405222862958908, 0.00010999044025084004, 0.00010940521315205842, 0.26180002093315125, 0.022883867844939232, 0.2546694874763489, 0.008019163273274899, 0.007767224684357643, 1.3850855827331543, -0.3351747393608093, -0.003740462940186262, 1.7506108283996582, 0.14170369505882263, -0.10545316338539124, 0.7597386837005615, 1.3414791822433472, 0.225955069065094, 0.3532537817955017, 0.2573815584182739, 0.666050910949707, 1.202240228652954, 0.07483220845460892, 0.7466791868209839, 0.3738739490509033, 1.3592195510864258, 0.1806047260761261, 1.4212318658828735, 0.7739744186401367, 1.4222155809402466, 0.20076099038124084, 1.5557911396026611, 1.0959223508834839, 0.26180002093315125, 1.4050469398498535, 0.2766401469707489, 1.3164492845535278, 1.4693683385849, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 0.0004042311629746109, 1.3911371752328705e-05, 0.11316444724798203, -0.5972543954849243], "mean": [1.1754558086395264, -0.6357934474945068, -0.22282664477825165, 1.1777106523513794, -0.04365391284227371, -0.19657805562019348, 0.43388688564300537, 1.1657451391220093, 0.28605639934539795, -0.17549578845500946, 0.20659087598323822, 0.4042823016643524, 0.2750926613807678, 0.04775688424706459, 0.028787368908524513, 0.028411870822310448, 0.14737428724765778, 0.1342516988515854, 0.03296922147274017, 0.02391340583562851, 5.352505354494497e-07, 0.12639693915843964, 1.630865682500371e-07, 1.6235436817169102e-07, 0.2582847476005554, 0.01365421898663044, 0.24084210395812988, 0.00528308842331171, 0.0051849884912371635, 1.2141022682189941, -0.6276111006736755, -0.2139386534690857, 1.2656534910202026, -1.3807591199874878, -0.4402082562446594, 0.054802801460027695, 1.1964447498321533, 0.026062825694680214, 0.03338417038321495, 0.003726460738107562, 0.15279679000377655, 0.9136598110198975, 0.036253731697797775, 0.18970425426959991, 0.19046904146671295, 1.1697028875350952, -0.0600859709084034, 1.2266075611114502, 0.4457710385322571, 1.276355266571045, -0.0986367017030716, 1.3871421813964844, 0.8594569563865662, 0.03129957243800163, 1.1893746852874756, -0.11503025889396667, 0.8262982964515686, 1.309760332107544, 0.5626980662345886, -1.106863021850586, 0.5441356301307678, -0.0005128878401592374, 6.029402470630885e-07, 0.08614746481180191, -0.7264123558998108], "std": [0.051545560359954834, 0.05083507299423218, 0.020011723041534424, 0.10714002698659897, 0.02186247892677784, 0.10926174372434616, 0.030597636476159096, 0.13361147046089172, 0.03318972885608673, 0.025360295549035072, 0.025728248059749603, 0.04709913954138756, 0.038584694266319275, 0.012587975710630417, 0.003802466206252575, 0.003712131641805172, 0.028090503066778183, 0.02449043095111847, 0.0061212689615786076, 0.004328265320509672, 1.2963534572918434e-05, 0.02414516732096672, 3.949239726352971e-06, 3.931476840079995e-06, 0.029800739139318466, 0.004714345559477806, 0.03690759837627411, 0.0017321702325716615, 0.0016961980145424604, 0.10908880084753036, 0.17125748097896576, 0.022885574027895927, 0.20562344789505005, 0.3480020761489868, 0.11099739372730255, 0.2002239227294922, 0.15842409431934357, 0.08854306489229202, 0.14328457415103912, 0.06808207184076309, 0.15180069208145142, 0.20340657234191895, 0.02213888429105282, 0.158455491065979, 0.1005663201212883, 0.21403120458126068, 0.03158513084053993, 0.2665276527404785, 0.17007945477962494, 0.25017857551574707, 0.04189912974834442, 0.29828494787216187, 0.21834683418273926, 0.03407052531838417, 0.23661012947559357, 0.05328087881207466, 0.21027645468711853, 0.280733585357666, 1.5663037629565224e-05, 3.5286013826407725e-06, 1.5473195162485354e-05, 0.00013159117952454835, 5.66915650779265e-06, 0.017469890415668488, 0.029614174738526344], "count": [2439]}, "observation.state.tcp_pose": {"min": [0.36166831851005554, 0.18972085416316986, 0.9660174250602722, -1.2085646390914917, 1.2179685831069946, -1.4596434831619263, 0.23706179857254028, -0.3071836829185486, 0.9413802623748779, -0.611602783203125, 1.2096142768859863, 0.42209407687187195], "max": [0.41960522532463074, 0.22660724818706512, 1.070461630821228, -0.8975052833557129, 1.6587754487991333, -1.171296238899231, 0.4684019684791565, -0.07126128673553467, 1.133239507675171, 1.208343744277954, 1.8062156438827515, 1.5145570039749146], "mean": [0.4137427806854248, 0.20325496792793274, 1.0084319114685059, -1.044988989830017, 1.5979543924331665, -1.4129979610443115, 0.39793434739112854, -0.16189225018024445, 1.0436973571777344, -0.22813332080841064, 1.6013785600662231, 0.7007165551185608], "std": [0.006864040624350309, 0.007401323411613703, 0.02852659672498703, 0.04873529449105263, 0.06679118424654007, 0.03587830811738968, 0.06057288125157356, 0.05856356769800186, 0.04571087658405304, 0.30243271589279175, 0.11689501255750656, 0.1741836965084076], "count": [2439]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.18972639739513397, 0.9659415483474731, -1.208855390548706, 1.2178406715393066, -1.459349274635315, 0.23645834624767303, -0.3090631365776062, 0.9413749575614929, -0.6106396913528442, 1.2093133926391602, 0.4217299520969391], "max": [0.41961634159088135, 0.22662338614463806, 1.0704846382141113, -0.8973236680030823, 1.6587883234024048, -1.171513557434082, 0.4682570993900299, -0.07123291492462158, 1.133871078491211, 1.2056443691253662, 1.8064342737197876, 1.5142573118209839], "mean": [0.41375526785850525, 0.20325717329978943, 1.0084388256072998, -1.0449780225753784, 1.5978758335113525, -1.4129801988601685, 0.3980281352996826, -0.16222454607486725, 1.04417085647583, -0.22791653871536255, 1.5994609594345093, 0.700524091720581], "std": [0.006836793851107359, 0.007421290036290884, 0.028569281101226807, 0.04870769754052162, 0.06705867499113083, 0.035828106105327606, 0.06054406240582466, 0.05888566002249718, 0.04587835073471069, 0.3045181632041931, 0.11928508430719376, 0.17526012659072876], "count": [2439]}, "subtask_index": {"min": [54], "max": [1425], "mean": [1223.0967609676097], "std": [409.0769924076224], "count": [2439]}, "observation.tactile": {"min": [-0.01246391236782074, -3.911642488674261e-05, -8.611756493337452e-05, -0.001650667400099337, -6.701765960315242e-05, -0.00024307747662533075, -0.016383465379476547, -4.871268174611032e-05, -0.00011216798884561285, -0.0008768828702159226, -5.867710569873452e-06, -0.00033504466409794986, -0.012399272061884403, -4.604013156495057e-05, -0.00010191254114033654, -0.0013570646988227963, -4.128569344175048e-05, -0.00028028630185872316, -0.012891232036054134, -3.424941678531468e-05, -7.327392813749611e-05, -0.0013258230173960328, -5.895332833460998e-06, -0.0002883016422856599, -0.009382848627865314, -4.576660649036057e-05, -0.00010326110350433737, -0.001631906139664352, -7.76284869061783e-05, -0.0001867350219981745, -1.2030690908432007, -4.043075750814751e-05, -9.365926234750077e-05, -0.19211505353450775, -0.015755096450448036, -0.02988874725997448, -8.765058517456055, -4.522843664744869e-05, -0.00010138149082195014, -0.27685970067977905, -0.03874248266220093, -0.14262114465236664, -0.009487275034189224, -5.124305607751012e-05, -0.00011409655417082831, -0.00125200767070055, -5.861241152160801e-05, -0.00021316876518540084, -0.013140710070729256, -4.83866679132916e-05, -0.0001088479912141338, -0.0013765932526439428, -0.00010075800673803315, -0.0002884125569835305, -0.0069150435738265514, -4.318777428125031e-05, -9.617053729016334e-05, -0.0010705357417464256, -4.105715925106779e-05, -0.00014686101349070668], "max": [0.007211805786937475, 0.026725172996520996, 0.07364431768655777, 1.6119677184178727e-06, 0.00023164096637628973, 5.845507621415891e-05, 0.0003561037592589855, 0.01450478844344616, 0.04470709711313248, 1.9214278381696204e-06, 5.148031050339341e-05, 7.01926956026e-06, 0.0076601142063736916, 0.02264237031340599, 0.06564272940158844, 1.9182200503564673e-06, 0.00023464931291528046, 7.220276893349364e-05, 0.004488770384341478, 0.021294545382261276, 0.06277231872081757, 1.3484203691405128e-06, 0.00010737964475993067, 4.9223031965084374e-05, 0.012068561278283596, 0.025568092241883278, 0.07780520617961884, 1.937326260303962e-06, 0.0002711242123041302, 0.0001407649542670697, 4.590335845947266, 5.938598155975342, 12.464977264404297, 1.7227547459697234e-06, 0.026959553360939026, 0.07609226554632187, 0.1289055198431015, 13.207472801208496, 18.839887619018555, 1.8912908217316726e-06, 0.008692020550370216, 0.03556588664650917, 0.03134759142994881, 0.019963126629590988, 0.05840713158249855, 2.0958732420695014e-06, 0.00022919027833268046, 0.00048296136083081365, 0.00960845872759819, 0.02295924536883831, 0.06775419414043427, 1.9615190467447974e-06, 0.00021556238061748445, 0.00013455252337735146, 0.0009399743285030127, 0.018406406044960022, 0.051518239080905914, 1.7879772258311277e-06, 7.32247790438123e-05, 7.16219892638037e-06], "mean": [-0.00027667669928632677, 0.0016904890071600676, 0.005047583486884832, -8.697823068359867e-05, 1.2044222785334568e-05, -7.764911970298272e-06, 0.00021946095512248576, 6.410237983800471e-05, 0.00021803914569318295, -4.162598543189233e-06, -1.0498672509129392e-06, 4.141656063438859e-06, 0.00024194737488869578, 0.00014686689246445894, 0.00046054719132371247, -8.036902727326378e-06, -1.6062922441051342e-06, 5.336236881703371e-06, 0.00017128490435425192, 0.00037810500361956656, 0.0011113870423287153, -1.564710692036897e-05, 1.546073576719209e-06, 2.998032869072631e-06, 0.00023040994710754603, 0.00024016542010940611, 0.0007283396553248167, -1.1601332516875118e-05, -1.132549868998467e-06, 5.378136393119348e-06, 1.0163637399673462, 1.8035211563110352, 4.3545756340026855, -0.07153751701116562, 0.003601781092584133, 0.015367061831057072, -2.995199203491211, 1.381934642791748, 6.329012870788574, -0.08972439169883728, -0.009559821337461472, -0.04121308773756027, 0.00036767369601875544, 0.0016749306814745069, 0.005028783343732357, -9.236243204213679e-05, 1.4959383406676352e-05, 6.845392022114538e-07, -1.9304508896311745e-05, 0.0013983703684061766, 0.004182701464742422, -7.026471575954929e-05, 7.600575827382272e-06, -3.881313205056358e-06, -0.0003775343648158014, 0.0017866231501102448, 0.005241491831839085, -0.00011112311040051281, -2.1347952952055493e-06, -7.678859219595324e-06], "std": [0.0012127249501645565, 0.0029519859235733747, 0.008645138703286648, 0.00016052229329943657, 3.172606011503376e-05, 2.4140219466062263e-05, 0.0006567329401150346, 0.0006360397092066705, 0.0018866286845877767, 3.570245826267637e-05, 4.0419768083665986e-06, 1.3688313629245386e-05, 0.0004969294532202184, 0.0008899937383830547, 0.0026176203973591328, 4.9346970627084374e-05, 8.420951417065226e-06, 9.292184586229268e-06, 0.0005980412825010717, 0.0014112666249275208, 0.004059266299009323, 6.332374323392287e-05, 9.456810403207783e-06, 1.1763321708713192e-05, 0.0007426051888614893, 0.0012626959942281246, 0.0037035043351352215, 6.672578456345946e-05, 1.2092286851839162e-05, 1.1334810551488772e-05, 1.2529269456863403, 1.6364705562591553, 3.8046610355377197, 0.06338868290185928, 0.008703729137778282, 0.020184915512800217, 2.610903739929199, 1.7343679666519165, 5.674615859985352, 0.0801725760102272, 0.011244077235460281, 0.0384061299264431, 0.0022802394814789295, 0.003039723262190819, 0.009159228764474392, 0.00017243172624148428, 3.3219002943951637e-05, 3.679805013234727e-05, 0.0013162848772481084, 0.0032361370977014303, 0.00957646407186985, 0.0001808819069992751, 2.1305679183569737e-05, 2.799521098495461e-05, 0.0011142910225316882, 0.0031617898494005203, 0.009205724112689495, 0.00019632375915534794, 7.071299933159025e-06, 2.320317435078323e-05], "count": [2439]}, "timestamp": {"min": [0.0], "max": [81.26666666666667], "mean": [40.63333333333333], "std": [23.46928646992506], "count": [2439]}, "frame_index": {"min": [0], "max": [2438], "mean": [1219.0], "std": [704.0785940977518], "count": [2439]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [2439]}, "index": {"min": [67946], "max": [70384], "mean": [69165.0], "std": [704.0785940977518], "count": [2439]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2439]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5590624809265137]], [[0.5597061514854431]], [[0.5606198310852051]]], "std": [[[0.3021869957447052]], [[0.30131375789642334]], [[0.30211812257766724]]], "count": [2439]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2988114655017853]], [[0.3043999671936035]], [[0.303175687789917]]], "std": [[[0.17899151146411896]], [[0.17996476590633392]], [[0.18134158849716187]]], "count": [2439]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31067779660224915]], [[0.3142297863960266]], [[0.3115295469760895]]], "std": [[[0.18525554239749908]], [[0.18451599776744843]], [[0.18432393670082092]]], "count": [2439]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5665850043296814]], [[0.5668827891349792]], [[0.5673559308052063]]], "std": [[[0.30861222743988037]], [[0.30807602405548096]], [[0.30903753638267517]]], "count": [2439]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5960784554481506]], [[0.5960784554481506]], [[0.5960784554481506]]], "mean": [[[0.0036555295810103416]], [[0.0036555295810103416]], [[0.0036555295810103416]]], "std": [[[0.036634307354688644]], [[0.036634307354688644]], [[0.036634307354688644]]], "count": [2439]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4934976100921631]], [[0.4934976100921631]], [[0.4934976100921631]]], "std": [[[0.22269774973392487]], [[0.22269774973392487]], [[0.22269774973392487]]], "count": [2439]}}}
+{"episode_index": 26, "stats": {"observation.state": {"min": [1.0499844551086426, -0.7800003290176392, -0.22575943171977997, 1.0718908309936523, -0.24510663747787476, -0.7700056433677673, 0.36909472942352295, 0.006590736098587513, -0.0003187141555827111, -0.2699321210384369, 0.005396494176238775, 0.003493862459436059, 0.003623045515269041, -0.06347382068634033, 0.0034913807176053524, 0.0008305310620926321, -0.001325677614659071, -0.011273903772234917, 0.0068466090597212315, 0.000850485113915056, -0.0030360084492713213, -0.011289604008197784, 0.0067395311780273914, 0.0008101336425170302, 0.005202963948249817, -0.0028090926352888346, 0.005354227498173714, 0.005660950671881437, 0.0008318613399751484, 0.9923045039176941, -1.108580470085144, -0.24294742941856384, 1.0093562602996826, -1.85390043258667, -0.7690339684486389, -0.4262923002243042, 0.005674342159181833, -0.18293620645999908, -0.20933575928211212, -0.20009323954582214, 0.0032531144097447395, 0.005218814127147198, -0.12248023599386215, 0.0035562654957175255, 0.0008048125309869647, 0.003513880306854844, -0.10219447314739227, 0.002971591427922249, 0.0008766470709815621, -0.0023098792880773544, -0.13802435994148254, 0.0035314462147653103, 0.0008456074283458292, 0.005826976615935564, -0.0018418165855109692, -0.15720617771148682, 0.0031970932614058256, 0.0008487114100717008, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0012463594321161509, 0.0, -0.0015339808305725455, -0.7603750824928284], "max": [1.2320600748062134, -0.5816977620124817, -5.992112619424006e-07, 1.5700105428695679, 0.082691989839077, -0.12588098645210266, 0.6175610423088074, 1.335264801979065, 0.29032525420188904, 0.001918282127007842, 0.2715778350830078, 0.540147066116333, 0.6454795002937317, 0.117832250893116, 0.041683826595544815, 0.045500509440898895, 0.8329824805259705, 0.21594908833503723, 0.11545666307210922, 0.05493122711777687, 0.4971213638782501, 0.225351020693779, 0.07497692853212357, 0.04555283486843109, 0.24061539769172668, 0.5227510929107666, 0.25658440589904785, 0.15425753593444824, 0.05768798664212227, 1.4399821758270264, -0.2933117747306824, -0.0003722300170920789, 1.8618727922439575, 0.12470880150794983, 0.02382499910891056, 0.6980899572372437, 1.3403648138046265, 0.2751907706260681, 0.48584967851638794, 0.2868926525115967, 0.30637070536613464, 1.1801211833953857, 0.12537537515163422, 0.7471309900283813, 0.35005444288253784, 1.4610393047332764, 0.19688427448272705, 1.4396848678588867, 0.8529860377311707, 1.4634919166564941, 0.23408371210098267, 1.4997906684875488, 0.972425103187561, 0.2419683039188385, 1.2952851057052612, 0.26225632429122925, 1.144670844078064, 1.3131308555603027, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.00047936898772604764, 9.58738019107841e-05, 0.11006312072277069, -0.5461930632591248], "mean": [1.1577448844909668, -0.6508883833885193, -0.22293661534786224, 1.1844714879989624, -0.10882724076509476, -0.2387186735868454, 0.442138671875, 1.2740602493286133, 0.28009653091430664, -0.20481601357460022, 0.22679632902145386, 0.5173897743225098, 0.6018584370613098, 0.10710924118757248, 0.03722411021590233, 0.043516598641872406, 0.6946814656257629, 0.19245748221874237, 0.06715147197246552, 0.05260995402932167, 0.4271973669528961, 0.19607053697109222, 0.044260088354349136, 0.04090602323412895, 0.08566808700561523, 0.4288424849510193, 0.19724613428115845, 0.06235095113515854, 0.05019393935799599, 1.2497926950454712, -0.619247555732727, -0.2170787900686264, 1.306182622909546, -1.3920588493347168, -0.33000415563583374, -0.03578401729464531, 1.201185703277588, 0.010658535175025463, 0.09767695516347885, -0.006868772674351931, 0.10152015835046768, 0.9233192801475525, 0.036137308925390244, 0.12722058594226837, 0.15794992446899414, 1.143616795539856, -0.05862410366535187, 1.2298214435577393, 0.5057912468910217, 1.227258324623108, -0.1009841337800026, 1.3490763902664185, 0.7490854263305664, 0.030139155685901642, 1.13710618019104, -0.12052465975284576, 0.6123278141021729, 1.2070280313491821, 0.5627005696296692, -1.1068652868270874, 0.5440825819969177, -0.0004697497934103012, 3.523476621580812e-08, 0.06480327248573303, -0.7008070945739746], "std": [0.03465910628437996, 0.03717677667737007, 0.020524220541119576, 0.07617490738630295, 0.043289557099342346, 0.08864396065473557, 0.04188012704253197, 0.13685810565948486, 0.029318906366825104, 0.030608229339122772, 0.02692144364118576, 0.06022704020142555, 0.08729061484336853, 0.020519394427537918, 0.004597495310008526, 0.005869944579899311, 0.12706239521503448, 0.032402344048023224, 0.010581238195300102, 0.008748852647840977, 0.09109348058700562, 0.03529638424515724, 0.007659521419554949, 0.007910463958978653, 0.018602371215820312, 0.09006578475236893, 0.025538234040141106, 0.013010397553443909, 0.009537373669445515, 0.11291944235563278, 0.17391131818294525, 0.023888632655143738, 0.21177330613136292, 0.3733674883842468, 0.13528212904930115, 0.20781798660755157, 0.16223867237567902, 0.08506558835506439, 0.1340094953775406, 0.07685981690883636, 0.06746730953454971, 0.21090219914913177, 0.02746790088713169, 0.11499723047018051, 0.09272906929254532, 0.2134399116039276, 0.03221264109015465, 0.2723716199398041, 0.15964937210083008, 0.23649862408638, 0.04598505422472954, 0.29357680678367615, 0.18130743503570557, 0.03076762706041336, 0.22045756876468658, 0.050304777920246124, 0.18935182690620422, 0.28037190437316895, 3.5063396353507414e-05, 4.803686169907451e-05, 6.141759513411671e-05, 0.0003556869341991842, 1.8376194930169731e-06, 0.018967468291521072, 0.03675432130694389], "count": [2721]}, "observation.state.joint_torque": {"min": [-31.18199920654297, -3.9149999618530273, -16.792999267578125, -10.180000305175781, -0.29919999837875366, -0.42239999771118164, 1.2496000528335571, -0.5947373509407043, -0.2814495861530304, -0.4560670852661133, -0.33801156282424927, -0.10957689583301544, -0.5420973300933838, -0.5593676567077637, -0.09463459998369217, -0.04138316959142685, -0.5526514053344727, -0.3482855260372162, -0.11289741843938828, -0.032821137458086014, -0.497002512216568, -0.37323158979415894, -0.10957689583301544, -0.03139413148164749, -0.10115424543619156, -0.3482855260372162, -0.5056376457214355, -0.12617947161197662, -0.02996712550520897, 8.442000389099121, -7.631999969482422, 1.0509999990463257, -9.631999969482422, -1.9176000356674194, -2.5136001110076904, -3.413599967956543, -1.1996629238128662, -0.7411929965019226, -0.8164470195770264, -0.9618417024612427, -0.1145576685667038, -0.7627740502357483, -1.0237483978271484, -0.12949997186660767, -0.06207476183772087, -0.951788604259491, -1.075559377670288, -0.16934612393379211, -0.07135029137134552, -0.3626774847507477, -0.3626774847507477, -0.09961536526679993, -0.08633385598659515, -0.14997217059135437, -0.700408935546875, -0.3905019462108612, -0.7022882699966431, -0.14484110474586487, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.01650047302246, 10.14900016784668, -10.76200008392334, 0.4830000102519989, 1.539199948310852, 1.496000051498413, 2.397599935531616, 0.8685457706451416, 0.1923026442527771, 0.3889618515968323, 0.3268273174762726, 0.11621791869401932, 0.3674747943878174, 0.39433979988098145, 0.09131408482789993, 0.01712406985461712, 0.3310151696205139, 0.21683892607688904, 0.11953844130039215, 0.014270060695707798, 0.3550017774105072, 0.2983933687210083, 0.06308973580598831, 0.01783757284283638, 0.05585474148392677, 0.21875785291194916, 0.4029749929904938, 0.06308973580598831, 0.014270060695707798, 41.032501220703125, 13.021499633789062, 22.788999557495117, 1.7829999923706055, 0.9111999869346619, 3.5288000106811523, 0.9359999895095825, 2.5699784755706787, 4.457346439361572, 2.2393264770507812, 1.3781427145004272, 0.5744485855102539, 2.1472809314727783, 0.6130976676940918, 1.0592433214187622, 0.21405088901519775, 0.6380437612533569, 0.25713640451431274, 0.17432688176631927, 0.027826614677906036, 0.7829228043556213, 0.24562285840511322, 0.167685866355896, 0.03781566023826599, 0.12578311562538147, 0.8337744474411011, 0.7061657309532166, 0.1759871542453766, 0.07848532497882843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.494340896606445, 1.9870719909667969, -13.195911407470703, -1.695629358291626, 0.07969890534877777, 0.25686827301979065, 1.7270007133483887, -0.00020312578999437392, -0.0024965021293610334, 0.026463335379958153, 0.020854022353887558, 0.0008627717616036534, -0.0034080215264111757, 0.004599828738719225, 6.092047328820627e-07, 0.00035058861249126494, 0.0008113632211461663, 0.0018050350481644273, -0.0006333502824418247, 0.0001022663782350719, 0.015621190890669823, 0.014968122355639935, -0.0017450683517381549, -0.00038965995190665126, -0.002110106870532036, -0.0019235102226957679, -0.006025125738233328, -0.0021416759118437767, -0.0004990064189769328, 27.032981872558594, 0.9365671277046204, 12.668693542480469, -2.054379940032959, -0.5599606037139893, 1.4958100318908691, -0.8148794770240784, 0.2432423084974289, 1.0188592672348022, 0.3193661570549011, 0.12427277863025665, 0.09428442269563675, 0.6517641544342041, -0.041934289038181305, 0.3132822513580322, 0.08066164702177048, -0.0487983375787735, -0.16119155287742615, -0.0026627567131072283, -0.0010782527970150113, -0.018038328737020493, -0.013728714548051357, -0.001439986051991582, -0.002817571396008134, -0.000760640949010849, -0.007962376810610294, 0.006955313496291637, -0.022821368649601936, 0.004739596042782068, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6623353362083435, 0.9058674573898315, 0.5733640789985657, 0.6679532527923584, 0.19302132725715637, 0.3378245532512665, 0.17782609164714813, 0.04002109169960022, 0.023688683286309242, 0.05970665439963341, 0.05681945011019707, 0.009384148754179478, 0.055371012538671494, 0.04308002442121506, 0.0064524756744503975, 0.004729286767542362, 0.05492416024208069, 0.04163610562682152, 0.010717196390032768, 0.003314579837024212, 0.061874400824308395, 0.056393012404441833, 0.0070517403073608875, 0.0032987159211188555, 0.00964066106826067, 0.03759436309337616, 0.05388801544904709, 0.009593655355274677, 0.0036028362810611725, 4.388077735900879, 1.9687323570251465, 1.8446667194366455, 1.7932835817337036, 0.31673046946525574, 0.7535409927368164, 0.5676518082618713, 0.5535385608673096, 1.1787179708480835, 0.4894556701183319, 0.30860868096351624, 0.12253706157207489, 0.7958315014839172, 0.21319617331027985, 0.32798367738723755, 0.08430344611406326, 0.1680784374475479, 0.19626614451408386, 0.02818221040070057, 0.008462336845695972, 0.0813862755894661, 0.062019266188144684, 0.02660513110458851, 0.00990512315183878, 0.028544103726744652, 0.11992987245321274, 0.0991513803601265, 0.04923247545957565, 0.01013660803437233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2721]}, "observation.state.tcp": {"min": [0.36160776019096375, 0.19208700954914093, 0.9562650918960571, -1.2088546752929688, 1.2176846265792847, -1.4421241283416748, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23866228759288788, -0.2934185862541199, 0.9686012864112854, -0.6611935496330261, 1.2180404663085938, 0.258398175239563, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4184366464614868, 0.23413945734500885, 1.053941011428833, -0.7959842085838318, 1.6988188028335571, -1.22895348072052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47118285298347473, -0.0398414172232151, 1.1550401449203491, 1.2085314989089966, 1.8967487812042236, 1.6998740434646606, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40899530053138733, 0.21031129360198975, 1.001082181930542, -0.9874456524848938, 1.6033250093460083, -1.355046272277832, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39856913685798645, -0.1489914357662201, 1.0540955066680908, -0.24598295986652374, 1.6839679479599, 0.647749125957489, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00760196428745985, 0.007444930262863636, 0.019731661304831505, 0.06542005389928818, 0.06899633258581161, 0.029777606949210167, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05916226655244827, 0.053980905562639236, 0.048644427210092545, 0.34193187952041626, 0.127127006649971, 0.2179379165172577, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2721]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.22575528919696808, 1.0718846321105957, -0.24519848823547363, -0.7699999809265137, 0.3690904676914215, 0.0, 0.0, -0.2727016806602478, 0.0, 0.0, 0.0, -0.06505067646503448, 0.0, 0.0, 0.0, -0.01883753016591072, 0.0, 0.0, 0.0, -0.020025363191962242, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9923038482666016, -1.1090949773788452, -0.24294421076774597, 1.0093402862548828, -1.8538949489593506, -0.7673968076705933, -0.42631733417510986, 0.0, -0.1906880885362625, -0.2090020775794983, -0.19775210320949554, 0.0, 0.0, -0.12679097056388855, 0.0, 0.0, 0.0, -0.10665647685527802, 0.0, 0.0, 0.0, -0.13995739817619324, 0.0, 0.0, -9.544310231035524e-09, 0.0, -0.15788526833057404, 0.0, 0.0, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0012090791715309024, -4.65094817627687e-05, -0.001895519089885056, -0.7603573799133301], "max": [1.2320538759231567, -0.5816986560821533, 0.0, 1.5700000524520874, 0.08281083405017853, -0.12585560977458954, 0.6176295876502991, 1.3461860418319702, 0.2908364236354828, 0.0, 0.27612006664276123, 0.5445055961608887, 0.650303304195404, 0.12087829411029816, 0.04869578778743744, 0.04823380336165428, 0.840833842754364, 0.22072505950927734, 0.12568874657154083, 0.058846037834882736, 0.5066279768943787, 0.2260780781507492, 0.08706540614366531, 0.0473516508936882, 0.2617999017238617, 0.5297610759735107, 0.2625606060028076, 0.16302388906478882, 0.06362191587686539, 1.4399935007095337, -0.29319167137145996, -0.00191474927123636, 1.8626643419265747, 0.12813864648342133, 0.029805386438965797, 0.7056076526641846, 1.3468315601348877, 0.27852144837379456, 0.48940855264663696, 0.28526538610458374, 0.3209463655948639, 1.2130173444747925, 0.12713398039340973, 0.7657518982887268, 0.35200709104537964, 1.4912631511688232, 0.19808925688266754, 1.4457677602767944, 0.8547807931900024, 1.4812737703323364, 0.23737338185310364, 1.5040253400802612, 0.9737998843193054, 0.26179999113082886, 1.2986359596252441, 0.2684866487979889, 1.1507298946380615, 1.3528974056243896, 0.5626999735832214, -1.106863021850586, 0.5443099737167358, 0.0004228029865771532, 6.663872773060575e-05, 0.11081835627555847, -0.5458304286003113], "mean": [1.1577974557876587, -0.6509125232696533, -0.22294801473617554, 1.184556007385254, -0.10891452431678772, -0.23884546756744385, 0.4421716034412384, 1.2811346054077148, 0.28376176953315735, -0.20213378965854645, 0.228851780295372, 0.523344874382019, 0.6035577058792114, 0.10823702067136765, 0.04579651728272438, 0.04568365216255188, 0.6980321407318115, 0.19577094912528992, 0.06945432722568512, 0.05678714066743851, 0.43169036507606506, 0.19626066088676453, 0.04847654327750206, 0.042716577649116516, 0.07831922173500061, 0.43217673897743225, 0.19810421764850616, 0.06452967971563339, 0.05219707638025284, 1.2507230043411255, -0.6200524568557739, -0.2170969843864441, 1.306902289390564, -1.3921350240707397, -0.3304734528064728, -0.035855066031217575, 1.2029688358306885, 0.01360673364251852, 0.09671639651060104, -0.0059052263386547565, 0.1008676141500473, 0.932016134262085, 0.03196025267243385, 0.12895601987838745, 0.16556449234485626, 1.1414549350738525, -0.058178581297397614, 1.2285436391830444, 0.5055654048919678, 1.2245224714279175, -0.10047518461942673, 1.347375750541687, 0.7487902641296387, 0.032480910420417786, 1.1350340843200684, -0.12020552903413773, 0.6097869873046875, 1.2147339582443237, 0.5627028942108154, -1.1068702936172485, 0.5441492199897766, -0.0005021635442972183, 2.2966757740050525e-07, 0.06485676765441895, -0.7008398175239563], "std": [0.03464866802096367, 0.03721553459763527, 0.020483864471316338, 0.07637624442577362, 0.04327090084552765, 0.08898478746414185, 0.04192698746919632, 0.14641088247299194, 0.032280080020427704, 0.03340563178062439, 0.02945944480597973, 0.06107960641384125, 0.08648062497377396, 0.019603092223405838, 0.006003971677273512, 0.005979674402624369, 0.12764590978622437, 0.03198869153857231, 0.01132926344871521, 0.009293138980865479, 0.092487633228302, 0.03375720605254173, 0.009692372754216194, 0.008419333025813103, 0.024607935920357704, 0.09050005674362183, 0.026052454486489296, 0.013936452567577362, 0.009962576441466808, 0.11303494870662689, 0.17468316853046417, 0.023798692971467972, 0.2124035507440567, 0.3744640350341797, 0.13574109971523285, 0.2080296128988266, 0.15983086824417114, 0.08636149019002914, 0.13454405963420868, 0.07703636586666107, 0.06783550977706909, 0.21468614041805267, 0.026009710505604744, 0.11543270945549011, 0.09550075978040695, 0.21344426274299622, 0.033101849257946014, 0.2721604108810425, 0.15966643393039703, 0.23678076267242432, 0.04704883322119713, 0.294085830450058, 0.18150818347930908, 0.03451194986701012, 0.22069694101810455, 0.05152963846921921, 0.18985170125961304, 0.2838951647281647, 2.0120634872000664e-05, 8.909718417271506e-06, 3.7278088711900637e-05, 0.00037300196709111333, 1.0096843652718235e-05, 0.019005268812179565, 0.03683190792798996], "count": [2721]}, "observation.state.tcp_pose": {"min": [0.36160776019096375, 0.19208700954914093, 0.9562650918960571, -1.2088546752929688, 1.2176846265792847, -1.4421241283416748, 0.23866228759288788, -0.2934185862541199, 0.9686012864112854, -0.6611935496330261, 1.2180404663085938, 0.258398175239563], "max": [0.4184366464614868, 0.23413945734500885, 1.053941011428833, -0.7959842085838318, 1.6988188028335571, -1.22895348072052, 0.47118285298347473, -0.0398414172232151, 1.1550401449203491, 1.2085314989089966, 1.8967487812042236, 1.6998740434646606], "mean": [0.40899530053138733, 0.21031129360198975, 1.001082181930542, -0.9874456524848938, 1.6033250093460083, -1.355046272277832, 0.39856913685798645, -0.1489914357662201, 1.0540955066680908, -0.24598295986652374, 1.6839679479599, 0.647749125957489], "std": [0.00760196428745985, 0.007444930262863636, 0.019731661304831505, 0.06542005389928818, 0.06899633258581161, 0.029777606949210167, 0.05916226655244827, 0.053980905562639236, 0.048644427210092545, 0.34193187952041626, 0.127127006649971, 0.2179379165172577], "count": [2721]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.1917412430047989, 0.9562110900878906, -1.208855390548706, 1.2178406715393066, -1.4429988861083984, 0.23852665722370148, -0.297156423330307, 0.9685335755348206, -0.6611933708190918, 1.218970775604248, 0.25839483737945557], "max": [0.4183923006057739, 0.23411968350410461, 1.054765224456787, -0.796112060546875, 1.6988826990127563, -1.2289543151855469, 0.4709249436855316, -0.03979360684752464, 1.1550061702728271, 1.207788109779358, 1.8974254131317139, 1.6935820579528809], "mean": [0.40900278091430664, 0.21030423045158386, 1.001080870628357, -0.9873506426811218, 1.6032787561416626, -1.3550325632095337, 0.3986169993877411, -0.1491999477148056, 1.054602861404419, -0.24595369398593903, 1.6822453737258911, 0.6476221084594727], "std": [0.007607943844050169, 0.007462549023330212, 0.01978130452334881, 0.06542138010263443, 0.06913039833307266, 0.029864028096199036, 0.05920727550983429, 0.054231204092502594, 0.048893388360738754, 0.3427719175815582, 0.12891460955142975, 0.21796539425849915], "count": [2721]}, "subtask_index": {"min": [54], "max": [1479], "mean": [1421.0459389930172], "std": [215.99159236909355], "count": [2721]}, "observation.tactile": {"min": [-0.009522267617285252, -4.060405626660213e-05, -8.986421744339168e-05, -0.0009072465472854674, -7.220116094686091e-05, -0.0001419301552232355, -0.0031150453723967075, -4.917678961646743e-05, -0.00011213443212909624, -0.00051714270375669, -4.4097450881963596e-05, -4.993894253857434e-05, -0.01673850417137146, -4.477296533877961e-05, -9.836637764237821e-05, -0.0012295976048335433, -2.4520342776668258e-05, -0.0003575978917069733, -0.00943940132856369, -3.481098246993497e-05, -7.549309520982206e-05, -0.001248952466994524, -9.480610970058478e-06, -0.00019501842325553298, -0.011221187189221382, -4.617297963704914e-05, -0.000104583814390935, -0.0013131615705788136, -4.75839406135492e-05, -0.00025432309485040605, -2.2598748207092285, -3.944138006772846e-05, -8.80113075254485e-05, -0.3125053346157074, -0.01347291748970747, -0.05661474168300629, -5.703352451324463, -1.1347124576568604, -0.00010334594117011875, -0.19636574387550354, -0.03906171768903732, -0.09613654017448425, -0.009461280889809132, -4.608926974469796e-05, -0.00010018378816312179, -0.0016874643042683601, -5.156718543730676e-06, -0.00023021585366223007, -0.011596533469855785, -6.036181002855301e-05, -0.00013659214891958982, -0.00201794202439487, -4.286848707124591e-05, -0.00026683646137826145, -0.32469746470451355, -4.375632124720141e-05, -9.78330645011738e-05, -0.0015383856371045113, -0.000441300799138844, -0.004961141850799322], "max": [0.003961443435400724, 0.018008394166827202, 0.05245848745107651, 1.6999422314256663e-06, 0.00021122826728969812, 6.6516981860331725e-06, 0.00036668620305135846, 0.010406429879367352, 0.03151755779981613, 1.9318554222991224e-06, 8.030590834096074e-05, 7.033931979094632e-06, 0.0010469845728948712, 0.018723879009485245, 0.05730096623301506, 1.828847530305211e-06, 7.447034295182675e-05, 8.29829787107883e-06, 0.013717924244701862, 0.022640526294708252, 0.0664646252989769, 1.3772032616543584e-06, 0.0002981717698276043, 0.00019160006195306778, 0.0012558848829939961, 0.024454979225993156, 0.06883897632360458, 1.9493475065246457e-06, 0.00011077059753006324, 1.9363411411177367e-05, 8.936055183410645, 15.06624698638916, 19.605558395385742, 1.6214578408835223e-06, 0.05579961836338043, 0.13831773400306702, 0.727000892162323, 9.070882797241211, 12.583563804626465, 1.9487476947688265e-06, 0.005215764511376619, 0.02041369304060936, 0.03406891971826553, 0.027234114706516266, 0.07734060287475586, 1.8356776081418502e-06, 0.00037741934647783637, 0.0004373346164356917, 0.17108498513698578, 0.04157637432217598, 0.11251021921634674, 2.5010288027260685e-06, 0.0006707285647280514, 0.002903276588767767, 0.01620675064623356, 0.050409168004989624, 0.09520015865564346, 1.8468037978891516e-06, 0.00030879193218424916, 0.00019816966960206628], "mean": [-0.0006840259884484112, 0.0020980644039809704, 0.006263876799494028, -7.764581096125767e-05, 9.794647439775872e-07, -6.849063083791407e-06, 1.7221964299096726e-05, 0.0005648666410706937, 0.0017143069999292493, -2.8208110961713828e-05, -8.024194357858505e-07, 1.0429241683596047e-06, -0.0002141953445971012, 0.0008179820142686367, 0.0024451189674437046, -4.5983997551957145e-05, 1.367823898590359e-07, -4.154244379606098e-06, 0.00014539522817358375, 0.0009316859068349004, 0.0027695349417626858, -4.896007158095017e-05, 1.0150922207685653e-05, -3.0982428711467946e-07, -8.882874681148678e-06, 0.000586221634875983, 0.0017340510385110974, -3.119342363788746e-05, 5.015049850953801e-07, 9.223998631568975e-08, 2.1243019104003906, 3.042600631713867, 6.638913154602051, -0.11210530996322632, 0.008365519344806671, 0.03354090824723244, -1.6083661317825317, 0.7413422465324402, 3.975475788116455, -0.05852613225579262, -0.0056425281800329685, -0.022466834634542465, 0.00022104705567471683, 0.0017783414805307984, 0.005309808533638716, -9.954939741874114e-05, 1.5850910131121054e-05, -2.706881105041248e-06, 6.135871808510274e-05, 0.0018801885889843106, 0.005584159400314093, -0.00010880357876885682, 7.290086614375468e-06, -3.3089604585256893e-06, -0.000215487350942567, 0.0014682543696835637, 0.004383601248264313, -7.591336907353252e-05, 1.5211400750558823e-05, -6.957413006603019e-06], "std": [0.0014531495980918407, 0.0030272428411990404, 0.008928018622100353, 0.0001145157148130238, 2.1951398593955673e-05, 1.8501361410017125e-05, 0.0005516398814506829, 0.001242324709892273, 0.0036904800217598677, 6.105460488470271e-05, 3.934151209250558e-06, 9.57835709414212e-06, 0.0015849850606173277, 0.002405844395980239, 0.007085444405674934, 0.00014377999468706548, 6.6502925619715825e-06, 3.3565665944479406e-05, 0.0009197995532304049, 0.0024351822212338448, 0.0072025577537715435, 0.00013242725981399417, 3.2595929951639846e-05, 1.618949136172887e-05, 0.0011772264260798693, 0.002303378889337182, 0.006660492159426212, 0.00012753056944347918, 1.1609616194618866e-05, 2.5786624973989092e-05, 2.309981107711792, 2.975083112716675, 6.102634429931641, 0.10613565146923065, 0.013873785734176636, 0.03898945078253746, 1.6568130254745483, 1.1889326572418213, 3.6635568141937256, 0.054725281894207, 0.006550916470587254, 0.024930588901042938, 0.0019971891306340694, 0.0035470183938741684, 0.010567694902420044, 0.00020771313575096428, 3.644174648798071e-05, 3.249857763876207e-05, 0.006268616300076246, 0.0037777761463075876, 0.010888340882956982, 0.00021941456361673772, 3.471320087555796e-05, 0.000103463236882817, 0.008740618824958801, 0.0029184434097260237, 0.008501495234668255, 0.00014727219240739942, 4.018967229058035e-05, 0.00012964018969796598], "count": [2721]}, "timestamp": {"min": [0.0], "max": [90.66666666666667], "mean": [45.333333333333336], "std": [26.182832939556803], "count": [2721]}, "frame_index": {"min": [0], "max": [2720], "mean": [1360.0], "std": [785.4849881867041], "count": [2721]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [2721]}, "index": {"min": [70385], "max": [73105], "mean": [71745.0], "std": [785.4849881867041], "count": [2721]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2721]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5518781542778015]], [[0.5523456335067749]], [[0.553493320941925]]], "std": [[[0.29870185256004333]], [[0.2979119122028351]], [[0.29895099997520447]]], "count": [2721]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.299313485622406]], [[0.3050925135612488]], [[0.3040826916694641]]], "std": [[[0.17892023921012878]], [[0.18002724647521973]], [[0.1813884824514389]]], "count": [2721]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3100697100162506]], [[0.31426796317100525]], [[0.31197622418403625]]], "std": [[[0.1836545616388321]], [[0.1837509274482727]], [[0.1837988644838333]]], "count": [2721]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5584425926208496]], [[0.5585911273956299]], [[0.5592532157897949]]], "std": [[[0.3048385679721832]], [[0.30442312359809875]], [[0.3055914044380188]]], "count": [2721]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6470588445663452]], [[0.6470588445663452]], [[0.6470588445663452]]], "mean": [[[0.0033455011434853077]], [[0.0033455011434853077]], [[0.0033455011434853077]]], "std": [[[0.03582488000392914]], [[0.03582488000392914]], [[0.03582488000392914]]], "count": [2721]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4930883049964905]], [[0.4930883049964905]], [[0.4930883049964905]]], "std": [[[0.22269704937934875]], [[0.22269704937934875]], [[0.22269704937934875]]], "count": [2721]}}}
+{"episode_index": 27, "stats": {"observation.state": {"min": [1.0504612922668457, -0.7792574763298035, -0.22574205696582794, 1.084725022315979, -0.11721446365118027, -0.7680918574333191, 0.3914037346839905, 0.006899332627654076, -0.00020271955872885883, -0.2615920901298523, 0.005526803899556398, 0.003550947178155184, 0.0036721080541610718, -0.06832833588123322, 0.0034942172933369875, 0.0008309744880534708, 0.001770678092725575, -0.012762471102178097, 0.0068632736802101135, 0.0008425034466199577, -0.0031947270035743713, 4.4401935156201944e-05, 0.0067331488244235516, 0.0008252100087702274, 0.0054159630089998245, -0.0029646221082657576, 0.006443422753363848, 0.005688606761395931, 0.0008624575566500425, 0.9225556254386902, -1.1378246545791626, -0.24198678135871887, 0.986824095249176, -1.8890502452850342, -0.7682992219924927, -0.3570190370082855, 0.005582197103649378, -0.2306840717792511, -0.19468215107917786, -0.120962955057621, 0.0032357405871152878, 0.005285539664328098, -0.048681363463401794, 0.0035796668380498886, 0.0009085735073313117, 0.003928216174244881, -0.08776117116212845, 0.0030091751832515, 0.0008841852541081607, -0.0005217835423536599, -0.11971503496170044, 0.003902318887412548, 0.0008828549762256444, 0.006365361623466015, -0.0018705202965065837, -0.1390824019908905, 0.003233258845284581, 0.0009484815527684987, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0013422331539914012, -9.58738019107841e-05, -9.58738019107841e-05, -0.7893289923667908], "max": [1.2283787727355957, -0.6062589883804321, -0.0015505190240219235, 1.5682984590530396, 0.13320106267929077, -0.04707871004939079, 0.634895920753479, 1.3784006834030151, 0.2919829189777374, 0.001825853018090129, 0.26095494627952576, 0.5738412141799927, 0.5491470694541931, 0.10716966539621353, 0.04179941490292549, 0.04083392396569252, 0.34704965353012085, 0.1764601618051529, 0.04939096421003342, 0.036205925047397614, 0.09163760393857956, 0.17701725661754608, 0.015025310218334198, 0.01314349751919508, 0.24074384570121765, 0.08811883628368378, 0.28402426838874817, 0.01878403127193451, 0.017701884731650352, 1.412273645401001, -0.32824045419692993, -0.0008853945764712989, 1.8033231496810913, -0.00019785955373663455, -0.13798828423023224, 0.6981545090675354, 1.3312195539474487, 0.26775214076042175, 0.40463653206825256, 0.2903415262699127, 0.20534543693065643, 1.1374046802520752, 0.0689595565199852, 0.2908121347427368, 0.30578529834747314, 1.3400640487670898, 0.17912891507148743, 1.4202589988708496, 0.9672596454620361, 1.4543575048446655, 0.20505692064762115, 1.5684630870819092, 1.3081728219985962, 0.24247780442237854, 1.331282377243042, 0.2026042491197586, 1.4410523176193237, 1.3081755638122559, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 0.0, 0.0, 0.13508617877960205, -0.5999782085418701], "mean": [1.1695830821990967, -0.6583102941513062, -0.22292643785476685, 1.169690489768982, -0.018819212913513184, -0.13790367543697357, 0.44715654850006104, 1.3250762224197388, 0.27917271852493286, -0.2138132005929947, 0.1737023890018463, 0.5614308714866638, 0.4943057894706726, 0.09194015711545944, 0.0397980771958828, 0.038878388702869415, 0.3179459571838379, 0.1626753807067871, 0.04778916388750076, 0.03430259972810745, 0.07460320740938187, 0.1592825949192047, 0.01094638928771019, 0.011943010613322258, 0.2378077208995819, 0.058351483196020126, 0.26851406693458557, 0.011430313810706139, 0.01299852505326271, 1.236908197402954, -0.6143996715545654, -0.20807236433029175, 1.2953755855560303, -1.439123272895813, -0.34923622012138367, -0.026045724749565125, 1.193170428276062, -0.003091077320277691, 0.14010143280029297, 0.008709153160452843, 0.08004116266965866, 0.9387348294258118, 0.03136489912867546, 0.12809942662715912, 0.15053604543209076, 1.1634598970413208, -0.054321885108947754, 1.2414300441741943, 0.6743839383125305, 1.2687989473342896, -0.08777109533548355, 1.3752034902572632, 0.9135150909423828, 0.029818588867783546, 1.1642571687698364, -0.10290385037660599, 0.9131377339363098, 1.241939902305603, 0.5626908540725708, -1.1068516969680786, 0.5440231561660767, -0.0009928722865879536, -4.371810291559086e-08, 0.09998756647109985, -0.7422789335250854], "std": [0.04617578908801079, 0.03434959799051285, 0.020821720361709595, 0.07229702174663544, 0.02703424170613289, 0.09598226100206375, 0.03431520238518715, 0.1229933500289917, 0.028706924989819527, 0.03201066702604294, 0.02299094758927822, 0.05668097361922264, 0.07518989592790604, 0.022670233622193336, 0.005679433699697256, 0.005182755645364523, 0.06031372398138046, 0.030101913958787918, 0.007776475045830011, 0.006164610851556063, 0.019175365567207336, 0.028001481667160988, 0.002781938062980771, 0.002248983131721616, 0.022747928276658058, 0.024853162467479706, 0.038091398775577545, 0.004384702071547508, 0.004161367192864418, 0.11964420229196548, 0.18270103633403778, 0.0265424195677042, 0.20260709524154663, 0.3310301601886749, 0.14013560116291046, 0.17118288576602936, 0.14274919033050537, 0.0782034620642662, 0.13567687571048737, 0.07013583928346634, 0.03992488607764244, 0.18008822202682495, 0.018186716362833977, 0.06698475033044815, 0.0636240541934967, 0.21949993073940277, 0.03442535549402237, 0.2913905084133148, 0.18717104196548462, 0.25725317001342773, 0.0478811040520668, 0.3160080015659332, 0.28414109349250793, 0.027009477838873863, 0.23749278485774994, 0.05678769573569298, 0.2714410126209259, 0.2760774791240692, 3.266296334913932e-05, 5.760191197623499e-05, 7.353066757787019e-05, 0.00024534008116461337, 2.0467966805881588e-06, 0.022288179025053978, 0.02946648560464382], "count": [2193]}, "observation.state.joint_torque": {"min": [-32.15700149536133, -3.56850004196167, -16.618000030517578, -6.254000186920166, -0.1687999963760376, -0.5992000102996826, 1.2768000364303589, -0.49540215730667114, -0.32984358072280884, -0.46103784441947937, -0.3131577670574188, -0.11787818372249603, -0.47685372829437256, -0.47205638885498047, -0.09131408482789993, -0.04209667816758156, -0.33965036273002625, -0.2916771173477173, -0.11953844130039215, -0.0321076326072216, -0.2417849749326706, -0.4403940737247467, -0.02490384131669998, -0.03424813970923424, -0.11522789299488068, -0.14775748550891876, -0.4432724714279175, -0.10957689583301544, -0.033534638583660126, 11.133000373840332, -5.105999946594238, 2.197000026702881, -8.645000457763672, -1.9672000408172607, -2.149600028991699, -2.9791998863220215, -1.5371477603912354, -0.8303399682044983, -0.7915932536125183, -0.7033623456954956, -0.10459613054990768, -0.4883672893047333, -0.9316398501396179, -0.12285894900560379, -0.0642152652144432, -1.3288580179214478, -1.1456003189086914, -0.23243583738803864, -0.057793740183115005, -0.4634212255477905, -0.3079880177974701, -0.12119869887828827, -0.06136125698685646, -0.15217117965221405, -0.6572329998016357, -0.4471103250980377, -0.19258970022201538, -0.07705831527709961, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.35449981689453, 7.33650016784668, -11.163999557495117, 1.6050000190734863, 1.5607999563217163, 1.1799999475479126, 2.492799997329712, 1.2009365558624268, 0.3323906660079956, 0.40263140201568604, 0.4970758557319641, 0.15440380573272705, 0.4998808801174164, 0.2628931999206543, 0.10127562284469604, 0.01712406985461712, 0.4240831732749939, 0.4048939347267151, 0.12617947161197662, 0.020691584795713425, 0.27632570266723633, 0.428880512714386, 0.08965382725000381, 0.014270060695707798, 0.05761394649744034, 0.2014874815940857, 0.5065971612930298, 0.09961536526679993, 0.013556556776165962, 38.11949920654297, 10.871999740600586, 20.184999465942383, 1.430999994277954, 0.30959999561309814, 3.4040000438690186, 1.1727999448776245, 2.0834908485412598, 4.717145919799805, 2.1312124729156494, 1.4601601362228394, 0.60931396484375, 2.1434431076049805, 0.6821790933609009, 1.0592433214187622, 0.21476440131664276, 0.7090440988540649, 0.3099069595336914, 0.15440380573272705, 0.05279921740293503, 0.6207733750343323, 0.3012717664241791, 0.13116022944450378, 0.06064775213599205, 0.12490351498126984, 0.6140571236610413, 0.4164074659347534, 0.1942499577999115, 0.05565322935581207, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.665794372558594, 2.0466039180755615, -13.188947677612305, -1.5102349519729614, 0.06776759773492813, 0.08649960160255432, 1.7367963790893555, -0.00552151957526803, -0.0012102286564186215, 0.01681852899491787, -0.007810880430042744, 0.0009281696402467787, 0.021625922992825508, 0.010827948339283466, 0.0003808084293268621, 8.589320350438356e-05, 0.004060972016304731, 0.0011663998011499643, -0.00031418484286405146, -0.00020009295258205384, 0.017981352284550667, 0.013964089564979076, 0.0013816545251756907, -0.00014152888616081327, -0.0007031196728348732, 0.011562526226043701, 0.008629461750388145, 0.0014717449666932225, 9.012345981318504e-05, 27.22838020324707, 1.0059843063354492, 12.719038009643555, -2.1076173782348633, -0.5044492483139038, 1.5578664541244507, -0.7678971290588379, 0.2227826863527298, 1.3148412704467773, 0.3449402451515198, 0.15727275609970093, 0.11690689623355865, 0.6647692322731018, -0.07610966265201569, 0.3775503635406494, 0.08766261488199234, -0.0624040849506855, -0.1752893179655075, -0.003998086787760258, -0.0012565181823447347, -0.012730292975902557, -0.007063637021929026, -0.004350127186626196, -0.0034943274222314358, -0.0012472063535824418, -0.03446854278445244, 0.011344249360263348, -0.018674667924642563, 0.0028911081608384848, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7364034652709961, 0.9171423316001892, 0.6185933947563171, 0.6881376504898071, 0.1703556478023529, 0.3425635099411011, 0.17351068556308746, 0.05251333862543106, 0.02654978632926941, 0.05412987992167473, 0.0507020503282547, 0.009867101907730103, 0.06764211505651474, 0.05787159129977226, 0.007929441519081593, 0.004347644746303558, 0.04666147008538246, 0.035928063094615936, 0.009794789366424084, 0.0032510103192180395, 0.04223974049091339, 0.05306355655193329, 0.008412180468440056, 0.0034958573523908854, 0.008226798847317696, 0.02775382436811924, 0.05814771726727486, 0.0066628167405724525, 0.003589153289794922, 4.520044326782227, 2.1419694423675537, 1.7933425903320312, 1.7599527835845947, 0.31188520789146423, 0.7159873843193054, 0.5236899256706238, 0.529841959476471, 1.5171421766281128, 0.5105510950088501, 0.3011743724346161, 0.14010976254940033, 0.773208498954773, 0.18283674120903015, 0.4093226194381714, 0.09017910808324814, 0.22806301712989807, 0.22180332243442535, 0.027629494667053223, 0.009017778560519218, 0.08039218932390213, 0.05568958446383476, 0.023225940763950348, 0.009621979668736458, 0.01879802532494068, 0.1338397115468979, 0.08934301882982254, 0.03613566979765892, 0.005961855407804251, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2193]}, "observation.state.tcp": {"min": [0.36201390624046326, 0.19042347371578217, 0.9615803956985474, -1.2089078426361084, 1.2180237770080566, -1.489425539970398, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.22840505838394165, -0.2915658950805664, 0.9457107782363892, -0.7614557147026062, 1.2183324098587036, 0.30557137727737427, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42284050583839417, 0.24316823482513428, 1.0515480041503906, -0.9405261278152466, 1.7031664848327637, -1.229912519454956, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47529271245002747, -0.047347292304039, 1.1450371742248535, 1.207427740097046, 1.8588144779205322, 1.4128259420394897, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4129481315612793, 0.21620047092437744, 1.005652666091919, -1.0747853517532349, 1.5966956615447998, -1.4501105546951294, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39760562777519226, -0.14704012870788574, 1.0521106719970703, -0.28558018803596497, 1.6675522327423096, 0.6416817307472229, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0091986870393157, 0.008258741348981857, 0.024158690124750137, 0.034240949898958206, 0.07365773618221283, 0.03129914402961731, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06143578141927719, 0.05796357989311218, 0.04974372684955597, 0.3229815363883972, 0.11435764282941818, 0.18082334101200104, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2193]}, "action": {"min": [1.0501441955566406, -0.7790809273719788, -0.22573715448379517, 1.0846662521362305, -0.11728346347808838, -0.7655624747276306, 0.39139774441719055, 0.0, 0.0, -0.26299142837524414, 0.0, 0.0, 0.0, -0.06499158591032028, 0.0, 0.0, 0.0, -0.014120195060968399, 0.0, 0.0, 0.0, -0.0024366327561438084, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9225592613220215, -1.1387909650802612, -0.24198472499847412, 0.9867926239967346, -1.8890691995620728, -0.7699999809265137, -0.35710206627845764, 0.0, -0.23679204285144806, -0.19628505408763885, -0.12057846784591675, 0.0, 0.0, -0.05196424573659897, 0.0, 0.0, 0.0, -0.09160884469747543, 0.0, 0.0, 0.0, -0.12380129843950272, 0.0, 0.0, -9.484407925697269e-09, 0.0, -0.1401158571243286, 0.0, 0.0, 0.562588095664978, -1.1069585084915161, 0.5439862608909607, -0.0013871266273781657, -1.4810875654802658e-05, 1.423211903717934e-20, -0.7893161177635193], "max": [1.2284454107284546, -0.606252908706665, -0.0021228105761110783, 1.5671511888504028, 0.1332462877035141, -0.04701585695147514, 0.6349872946739197, 1.3875044584274292, 0.29038798809051514, 0.0, 0.2670232057571411, 0.5810100436210632, 0.5567077398300171, 0.10482940822839737, 0.048494335263967514, 0.04613959789276123, 0.35294589400291443, 0.1782568246126175, 0.058541473001241684, 0.04128090292215347, 0.09569346904754639, 0.17716121673583984, 0.02005719393491745, 0.018207568675279617, 0.26180002093315125, 0.09252630174160004, 0.28399255871772766, 0.022189630195498466, 0.021610377356410027, 1.4122726917266846, -0.3282192349433899, 8.324051680199739e-18, 1.8040754795074463, 2.4912495064199902e-05, -0.13793982565402985, 0.7812896370887756, 1.3470072746276855, 0.28831547498703003, 0.4077208638191223, 0.2905690670013428, 0.2107706218957901, 1.1608164310455322, 0.07172957062721252, 0.3768160343170166, 0.3065286874771118, 1.3612698316574097, 0.18405205011367798, 1.4259309768676758, 0.9688654541969299, 1.460326910018921, 0.20685546100139618, 1.573015570640564, 1.322006106376648, 0.26180002093315125, 1.336778998374939, 0.20701374113559723, 1.4445205926895142, 1.4445635080337524, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -1.8625322122475352e-20, 1.5047774468257558e-05, 0.13548535108566284, -0.6000000238418579], "mean": [1.1696274280548096, -0.6583315134048462, -0.22292381525039673, 1.169745683670044, -0.01888733170926571, -0.1380169540643692, 0.44721028208732605, 1.3311058282852173, 0.281714528799057, -0.21395519375801086, 0.17176106572151184, 0.5667549967765808, 0.5001664161682129, 0.09292460232973099, 0.04483732953667641, 0.042877405881881714, 0.3206726014614105, 0.16444365680217743, 0.05179465189576149, 0.03850468620657921, 0.076819509267807, 0.16177722811698914, 0.017383035272359848, 0.015712855383753777, 0.25819897651672363, 0.06338712573051453, 0.2712448835372925, 0.016503820195794106, 0.016196707263588905, 1.23790442943573, -0.6154502034187317, -0.20807155966758728, 1.2960799932479858, -1.4400643110275269, -0.3499528467655182, -0.025392474606633186, 1.1930574178695679, 0.0002573177625890821, 0.1394311487674713, 0.009343243204057217, 0.08013144135475159, 0.9439229965209961, 0.02923945151269436, 0.13311651349067688, 0.16467447578907013, 1.1614625453948975, -0.054319437593221664, 1.239350438117981, 0.6739703416824341, 1.2663086652755737, -0.08784855157136917, 1.3734490871429443, 0.9132111072540283, 0.027980299666523933, 1.16160249710083, -0.1027476042509079, 0.9104115962982178, 1.314638376235962, 0.562693178653717, -1.1068551540374756, 0.5440706014633179, -0.0010382013861089945, -1.0645722881008624e-07, 0.10001495480537415, -0.7423248291015625], "std": [0.046165045350790024, 0.03436325117945671, 0.020876437425613403, 0.07240983098745346, 0.02686971426010132, 0.0962635800242424, 0.03447447717189789, 0.1418984979391098, 0.03242127224802971, 0.03464728593826294, 0.027029652148485184, 0.06487743556499481, 0.07705222815275192, 0.02162160538136959, 0.006265542004257441, 0.005884676706045866, 0.06145932152867317, 0.02895544469356537, 0.009457148611545563, 0.006928183604031801, 0.019262220710515976, 0.028337443247437477, 0.003808604786172509, 0.003465712768957019, 0.02946198545396328, 0.02442103438079357, 0.038928501307964325, 0.0052596149034798145, 0.005106663331389427, 0.1196763813495636, 0.1836181879043579, 0.02663540653884411, 0.20320747792720795, 0.3307633697986603, 0.14039374887943268, 0.17412763833999634, 0.1528521478176117, 0.0805617943406105, 0.1360602080821991, 0.07056323438882828, 0.041393354535102844, 0.18497516214847565, 0.016898751258850098, 0.07731792330741882, 0.06817463040351868, 0.2206486165523529, 0.0342322513461113, 0.291758269071579, 0.18760064244270325, 0.2573924660682678, 0.0474877692759037, 0.31634098291397095, 0.28475457429885864, 0.03179933503270149, 0.2372794896364212, 0.05777271091938019, 0.271575003862381, 0.2954567074775696, 1.0584991287032608e-05, 1.0124299478775356e-05, 3.701494279084727e-05, 0.00023739402240607888, 7.574572464363882e-06, 0.02234080247581005, 0.02956095151603222], "count": [2193]}, "observation.state.tcp_pose": {"min": [0.36201390624046326, 0.19042347371578217, 0.9615803956985474, -1.2089078426361084, 1.2180237770080566, -1.489425539970398, 0.22840505838394165, -0.2915658950805664, 0.9457107782363892, -0.7614557147026062, 1.2183324098587036, 0.30557137727737427], "max": [0.42284050583839417, 0.24316823482513428, 1.0515480041503906, -0.9405261278152466, 1.7031664848327637, -1.229912519454956, 0.47529271245002747, -0.047347292304039, 1.1450371742248535, 1.207427740097046, 1.8588144779205322, 1.4128259420394897], "mean": [0.4129481315612793, 0.21620047092437744, 1.005652666091919, -1.0747853517532349, 1.5966956615447998, -1.4501105546951294, 0.39760562777519226, -0.14704012870788574, 1.0521106719970703, -0.28558018803596497, 1.6675522327423096, 0.6416817307472229], "std": [0.0091986870393157, 0.008258741348981857, 0.024158690124750137, 0.034240949898958206, 0.07365773618221283, 0.03129914402961731, 0.06143578141927719, 0.05796357989311218, 0.04974372684955597, 0.3229815363883972, 0.11435764282941818, 0.18082334101200104], "count": [2193]}, "action.tcp_pose": {"min": [0.3620091378688812, 0.19008968770503998, 0.9616317749023438, -1.2086594104766846, 1.2200111150741577, -1.489447832107544, 0.22822163999080658, -0.2953842580318451, 0.9457268714904785, -0.7615178823471069, 1.217836856842041, 0.3054048717021942], "max": [0.42285484075546265, 0.24314920604228973, 1.051521897315979, -0.9411331415176392, 1.7031581401824951, -1.230804204940796, 0.47510048747062683, -0.04735110327601433, 1.1449259519577026, 1.2088515758514404, 1.8588511943817139, 1.4333422183990479], "mean": [0.4129595458507538, 0.21620216965675354, 1.005650520324707, -1.0747095346450806, 1.5966053009033203, -1.450111985206604, 0.39766550064086914, -0.1473671793937683, 1.0527278184890747, -0.28681036829948425, 1.6650419235229492, 0.6413410305976868], "std": [0.00920129381120205, 0.008286709897220135, 0.024170614778995514, 0.0341058149933815, 0.07380139827728271, 0.0314367450773716, 0.0614747479557991, 0.05831265076994896, 0.04992733150720596, 0.3207656443119049, 0.11773370951414108, 0.18150705099105835], "count": [2193]}, "subtask_index": {"min": [54], "max": [1534], "mean": [1429.7678978568172], "std": [276.880751748038], "count": [2193]}, "observation.tactile": {"min": [-0.019897030666470528, -4.090648144483566e-05, -8.848837751429528e-05, -0.0014888161094859242, -0.0001309957297053188, -0.0003658347995951772, -0.0015611759154126048, -4.6858076530043036e-05, -0.00010738337732618675, -0.0003204479580745101, -1.831627741921693e-05, -3.585493686841801e-05, -0.01802029274404049, -4.7892059228615835e-05, -0.000106183928437531, -0.0014750724658370018, -0.0001335653505520895, -0.00037737286766059697, -0.01746697910130024, -3.469133662292734e-05, -7.427130185533315e-05, -0.0012771456968039274, -2.0660338122979738e-05, -0.0003847524640150368, -0.021011538803577423, -4.661080674850382e-05, -0.00010449976252857596, -0.0017234210390597582, -3.1735737138660625e-05, -0.0004316467675380409, -2.891833782196045, -4.1660823626443744e-05, -9.631035209167749e-05, -0.1741086095571518, -0.009085760451853275, -0.05384480208158493, -6.36239767074585, -0.775193989276886, -0.00010768894571810961, -0.2142510563135147, -0.02853013016283512, -0.08742567896842957, -0.015230569057166576, -4.939251812174916e-05, -0.0001089405850507319, -0.0012917619897052646, -2.8854374249931425e-05, -0.00031666658469475806, -0.027926340699195862, -5.889243766432628e-05, -0.0001320418668910861, -0.0018761518876999617, -5.3384188504423946e-05, -0.0006028444040566683, -0.008355976082384586, -4.6760484110563993e-05, -0.00010499553172849119, -0.0014566578902304173, -5.472551492857747e-05, -0.00017137077520601451], "max": [0.00031577242771163583, 0.02157980017364025, 0.06373146921396255, 1.6751861267039203e-06, 0.0001684433955233544, 6.6526117734611034e-06, 0.00034428515937179327, 0.005248780362308025, 0.014879555441439152, 1.8435547417539055e-06, 4.503296077018604e-05, 6.756468792445958e-06, 0.0031950396951287985, 0.024658991023898125, 0.0746607631444931, 1.98385077965213e-06, 0.00018008211918640882, 8.037019142648205e-06, 0.006944914348423481, 0.021909788250923157, 0.06496611982584, 1.3855292309017386e-06, 0.0002521434798836708, 6.927908543730155e-05, 0.0003601675562094897, 0.029415203258395195, 0.0840984508395195, 1.9510837319103302e-06, 0.00014049817400518805, 7.569326044176705e-06, 5.294301509857178, 11.579978942871094, 11.40035629272461, 1.7912689145305194e-06, 0.027687670662999153, 0.0875629261136055, 0.022536952048540115, 9.24051570892334, 12.882086753845215, 2.046786448772764e-06, 0.003176420461386442, 0.013208325020968914, 0.01685020513832569, 0.020953340455889702, 0.06016936153173447, 1.9925955712096766e-06, 0.00021400389960035682, 0.0002180339943151921, 0.03982171043753624, 0.029112940654158592, 0.08750949054956436, 2.3899781353975413e-06, 0.0001549711887491867, 0.0006106953369453549, 0.0023901055101305246, 0.022888505831360817, 0.06551959365606308, 1.9385572613828117e-06, 0.0001486423861933872, 7.842387276468799e-06], "mean": [-0.0026284202467650175, 0.0033503565937280655, 0.010033334605395794, -0.0001685446040937677, -2.3006168703432195e-05, -3.6356490454636514e-05, 0.0002713833819143474, 3.655118416645564e-05, 0.0001356965076411143, -3.102942855548463e-06, -1.021419507196697e-06, 5.004642389394576e-06, -0.0018145890207961202, 0.0037496613804250956, 0.011191810481250286, -0.00020648041390813887, -1.7153537328340462e-06, -3.2307547371601686e-05, -0.00021170344552956522, 0.001502113533206284, 0.004430228378623724, -7.660879055038095e-05, 1.3024919098825194e-05, -7.515352081099991e-06, -0.00027768959989771247, 0.0008264609496109188, 0.0024327398277819157, -4.616898513631895e-05, 9.54419647314353e-07, -5.315713224263163e-06, 1.4168771505355835, 2.019587993621826, 4.2490458488464355, -0.0690905973315239, 0.006393883377313614, 0.0209128987044096, -1.8805596828460693, 0.7832342386245728, 4.761749744415283, -0.0649494156241417, -0.005844500381499529, -0.024577489122748375, -0.00013479574408847839, 0.0009925926569849253, 0.002980931429192424, -5.167958443053067e-05, 4.4745793275069445e-06, -3.6886926864099223e-06, -0.0006522111943922937, 0.002978071803227067, 0.008951718918979168, -0.00016894444706849754, 1.2749316738336347e-05, -1.8844037185772322e-05, -0.0011312547139823437, 0.0028884944040328264, 0.008464294485747814, -0.00018396730592940003, -6.904809197294526e-06, -2.3369699192699045e-05], "std": [0.0027075486723333597, 0.0030883816070854664, 0.00934157706797123, 0.00016920527559705079, 2.634935299283825e-05, 4.3728236050810665e-05, 0.00017935757932718843, 0.0003185597888659686, 0.0009270369191654027, 1.902207986859139e-05, 3.020172016476863e-06, 4.452127086551627e-06, 0.002425752580165863, 0.0042629847303032875, 0.01269622053951025, 0.00023904393310658634, 1.8213311705039814e-05, 4.607764276443049e-05, 0.0014571589417755604, 0.0030148285441100597, 0.008820329792797565, 0.00015962515317369252, 3.1191859307000414e-05, 3.096764339716174e-05, 0.001975038554519415, 0.0030775205232203007, 0.008973844349384308, 0.00018017333059106022, 1.2701393643510528e-05, 4.1468945710221305e-05, 1.6764390468597412, 2.05462908744812, 3.825920343399048, 0.06244412809610367, 0.008378253318369389, 0.02695060521364212, 1.7560042142868042, 1.0540229082107544, 4.478818416595459, 0.061831068247556686, 0.006716862320899963, 0.02316812053322792, 0.0014987123431637883, 0.0023509785532951355, 0.006987328175455332, 0.00013162918912712485, 1.6107185729197226e-05, 2.9862372684874572e-05, 0.0024996111169457436, 0.004431928042322397, 0.013201691210269928, 0.0002916535013355315, 2.4899034542613663e-05, 5.3623411076841876e-05, 0.0015223273076117039, 0.00318196346051991, 0.009226047433912754, 0.00020753135322593153, 1.5429310224135406e-05, 3.083909905399196e-05], "count": [2193]}, "timestamp": {"min": [0.0], "max": [73.06666666666666], "mean": [36.53333333333334], "std": [21.102150144967236], "count": [2193]}, "frame_index": {"min": [0], "max": [2192], "mean": [1096.0], "std": [633.064504349017], "count": [2193]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [2193]}, "index": {"min": [73106], "max": [75298], "mean": [74202.0], "std": [633.064504349017], "count": [2193]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2193]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5624667406082153]], [[0.5633190870285034]], [[0.5643545985221863]]], "std": [[[0.30505067110061646]], [[0.3040465712547302]], [[0.3047212064266205]]], "count": [2193]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2988395392894745]], [[0.3046959936618805]], [[0.3034801185131073]]], "std": [[[0.17924828827381134]], [[0.1803666353225708]], [[0.1815854161977768]]], "count": [2193]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31019943952560425]], [[0.3141651153564453]], [[0.31217247247695923]]], "std": [[[0.18422292172908783]], [[0.18394306302070618]], [[0.1843540221452713]]], "count": [2193]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5699679255485535]], [[0.5704483985900879]], [[0.5709984302520752]]], "std": [[[0.3107590079307556]], [[0.3101359009742737]], [[0.31100010871887207]]], "count": [2193]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5568627715110779]], [[0.5568627715110779]], [[0.5568627715110779]]], "mean": [[[0.0035802528727799654]], [[0.0035802528727799654]], [[0.0035802528727799654]]], "std": [[[0.03588602691888809]], [[0.03588602691888809]], [[0.03588602691888809]]], "count": [2193]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4931562840938568]], [[0.4931562840938568]], [[0.4931562840938568]]], "std": [[[0.22283437848091125]], [[0.22283437848091125]], [[0.22283437848091125]]], "count": [2193]}}}
+{"episode_index": 28, "stats": {"observation.state": {"min": [1.0506302118301392, -0.7794650197029114, -0.22549888491630554, 1.0567057132720947, -0.025594588369131088, -0.7685092687606812, 0.3663102984428406, 0.006889756768941879, -0.0002281950000906363, -0.24741332232952118, 0.005518659949302673, 0.0035240002907812595, 0.0036831472534686327, -0.04541624337434769, 0.003489253344014287, 0.0008309744880534708, -0.0032825490925461054, -0.02339610457420349, 0.006871783174574375, 0.000839399523101747, -0.003212633542716503, -0.026933535933494568, 0.006795552093535662, 0.00085270224371925, 0.0055454750545322895, -0.0029881696682423353, 0.006465010344982147, 0.005751364398747683, 0.0008602404268458486, 0.9799631237983704, -1.1236854791641235, -0.2429428994655609, 0.9910098314285278, -1.7418091297149658, -0.769398033618927, -0.29915285110473633, 0.005656274501234293, -0.0725172609090805, -0.21310757100582123, -0.20163384079933167, 0.0032470866572111845, 0.005219795275479555, -0.07189129292964935, 0.003603422548621893, 0.0008407297427766025, 0.003516579046845436, -0.08231614530086517, 0.004484865814447403, 0.0008806379046291113, -0.0016723063308745623, -0.13216401636600494, 0.004673847462981939, 0.0008753167930990458, 0.006608331110328436, -0.0019517205655574799, -0.1482948660850525, 0.0032711969688534737, 0.0008855155319906771, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0011504855938255787, -9.58738019107841e-05, -0.005848301574587822, -0.7652646899223328], "max": [1.2254083156585693, -0.5395135879516602, -0.0010078733321279287, 1.568691372871399, 0.0918094664812088, -0.03933749720454216, 0.6134335398674011, 1.3049660921096802, 0.2901582419872284, 0.0018142993794754148, 0.27623245120048523, 0.5623037815093994, 0.4008103013038635, 0.08397888392210007, 0.037792500108480453, 0.03612743690609932, 0.14086970686912537, 0.14816486835479736, 0.0225211251527071, 0.017766181379556656, 0.007835085503757, 0.17360542714595795, 0.006844836287200451, 0.0017289058305323124, 0.24074062705039978, 0.010943219065666199, 0.2388705164194107, 0.005798875354230404, 0.0037486969958990812, 1.4266090393066406, -0.34079059958457947, -0.0011275956640020013, 1.850005865097046, 0.09637342393398285, -0.0504564605653286, 0.6981455683708191, 1.3999357223510742, 0.2872302234172821, 0.1887744516134262, 0.2067543864250183, 0.688208281993866, 1.1621438264846802, 0.14128649234771729, 0.7786271572113037, 0.5172257423400879, 1.4640775918960571, 0.2731868028640747, 1.3890596628189087, 0.6928504705429077, 1.4645309448242188, 0.2973823845386505, 1.4638482332229614, 0.91178297996521, 0.15710896253585815, 1.257990837097168, 0.2907363176345825, 1.2237354516983032, 1.2277297973632812, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 0.0, 9.58738019107841e-05, 0.11207646876573563, -0.5998823642730713], "mean": [1.1752585172653198, -0.5939823389053345, -0.2230580896139145, 1.1345032453536987, 0.07525444030761719, -0.15312878787517548, 0.40247106552124023, 1.2793618440628052, 0.2847024202346802, -0.18182918429374695, 0.2652122378349304, 0.5496525764465332, 0.37997743487358093, 0.07317012548446655, 0.034764692187309265, 0.034084901213645935, 0.11787404865026474, 0.1385297328233719, 0.019963355734944344, 0.015936437994241714, 0.002662176266312599, 0.15587285161018372, 0.006821590941399336, 0.0016260872362181544, 0.23790065944194794, 0.004856562241911888, 0.22866787016391754, 0.005773333366960287, 0.001485017710365355, 1.2641521692276, -0.6007574200630188, -0.21384446322917938, 1.2739330530166626, -1.4539711475372314, -0.28167447447776794, 0.0396093912422657, 1.2310913801193237, 0.07951682806015015, 0.015512730926275253, -0.08593615889549255, 0.15124019980430603, 0.8786720037460327, 0.0619816854596138, 0.1558610498905182, 0.2149236500263214, 1.1508547067642212, -0.04520874470472336, 1.1595503091812134, 0.3785494565963745, 1.2675763368606567, -0.09738513082265854, 1.2373417615890503, 0.5761050581932068, 0.038606926798820496, 1.1355782747268677, -0.11731396615505219, 0.6513128280639648, 1.0538322925567627, 0.5626951456069946, -1.1068555116653442, 0.5440618991851807, -0.0008358992054127157, 8.094031045402517e-08, 0.07854578644037247, -0.7245405912399292], "std": [0.03601805865764618, 0.0393337681889534, 0.019011707976460457, 0.07453841716051102, 0.014667874202132225, 0.1083521917462349, 0.033625319600105286, 0.10896879434585571, 0.027530113235116005, 0.02639947086572647, 0.025964975357055664, 0.05270171910524368, 0.048577360808849335, 0.013240772299468517, 0.00487225828692317, 0.004447244573384523, 0.023830775171518326, 0.0237194262444973, 0.003744289046153426, 0.0031132588628679514, 0.0037129016127437353, 0.029799802228808403, 7.4862341534753796e-06, 0.00016005239740479738, 0.022202182561159134, 0.004162298049777746, 0.031461432576179504, 6.8602830651798286e-06, 0.00037433832767419517, 0.11405350267887115, 0.19065573811531067, 0.024598734453320503, 0.2111685872077942, 0.2928556501865387, 0.12924231588840485, 0.1654277890920639, 0.14891591668128967, 0.05466122180223465, 0.0643734261393547, 0.0575435645878315, 0.11963491886854172, 0.18394295871257782, 0.024201398715376854, 0.13899536430835724, 0.1292978823184967, 0.19772256910800934, 0.042529817670583725, 0.2588396668434143, 0.10060790926218033, 0.2360447347164154, 0.05871175602078438, 0.2704850435256958, 0.16414251923561096, 0.02539058029651642, 0.21710824966430664, 0.06085026636719704, 0.24334515631198883, 0.2453005313873291, 3.601155913202092e-05, 5.2475621487246826e-05, 6.363421562127769e-05, 0.0001919784990604967, 3.938795089197811e-06, 0.023366669192910194, 0.025717398151755333], "count": [2369]}, "observation.state.joint_torque": {"min": [-33.150001525878906, -2.3534998893737793, -15.343000411987305, -8.017999649047852, -0.03680000081658363, -0.9327999949455261, 1.0135999917984009, -0.6456784605979919, -0.3438524305820465, -0.3119150996208191, -0.29700279235839844, -0.1062563955783844, -0.4307994544506073, -0.6006246209144592, -0.08135254681110382, -0.04138316959142685, -0.2955149710178375, -0.36363694071769714, -0.11953844130039215, -0.03068062849342823, -0.21875785291194916, -0.46534016728401184, -0.0033205123618245125, -0.0321076326072216, -0.14645375311374664, -0.11513570696115494, -0.4096912145614624, -0.0, -0.02925362065434456, 9.673500061035156, -8.769000053405762, 3.4210000038146973, -10.062000274658203, -1.8167999982833862, -1.9176000356674194, -3.55679988861084, -1.702706217765808, -0.9080251455307007, -0.35292384028434753, -0.7841371297836304, -0.15274357795715332, -0.7023277878761292, -0.8222609162330627, -0.12783971428871155, -0.06278826296329498, -1.7874817848205566, -1.001680612564087, -0.5246409177780151, -0.07277730107307434, -1.3125470876693726, -0.4432724714279175, -0.6508203744888306, -0.0763448178768158, -0.1855960488319397, -1.0314240455627441, -0.46438068151474, -0.41174352169036865, -0.0827663391828537, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.218000411987305, 8.254500389099121, -9.822999954223633, 1.3619999885559082, 1.3799999952316284, 1.3624000549316406, 2.2655999660491943, 0.15537035465240479, 0.2801760733127594, 0.33801156282424927, 0.4225144684314728, 0.09629485011100769, 0.3876235783100128, 0.30415016412734985, 0.08633331209421158, 0.016410568729043007, 0.29743391275405884, 0.2840014100074768, 0.09961536526679993, 0.012843053787946701, 0.2648121416568756, 0.38762354850769043, 0.0016602561809122562, -0.0, 0.08004379272460938, 0.17941983044147491, 0.35404232144355774, 0.0016602561809122562, 0.011416046880185604, 41.6505012512207, 8.982000350952148, 22.121000289916992, 1.7389999628067017, 0.5496000051498413, 3.578399896621704, 0.3799999952316284, 2.249049425125122, 4.920910358428955, 2.210744619369507, 1.4626455307006836, 0.667422890663147, 2.1463215351104736, 0.9268425107002258, 1.0575830936431885, 0.21476440131664276, 0.8308960199356079, 0.33677199482917786, 0.6873460412025452, 0.1462681144475937, 0.7723687291145325, 0.274406760931015, 0.7437946796417236, 0.16196517646312714, 0.12446370720863342, 0.5641649961471558, 0.49412402510643005, 0.41838452219963074, 0.07277730107307434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.452604293823242, 1.502358078956604, -13.015336036682129, -1.5546232461929321, 0.21736930310726166, -0.07302094995975494, 1.7353923320770264, -0.005678997840732336, -0.00021287307026796043, 0.020238207653164864, 0.011517813429236412, 0.0013063403312116861, 0.013169304467737675, 0.004553905222564936, 0.0009110743994824588, 0.00022769412316847593, 0.008921884931623936, 0.0013085841201245785, 0.001895036199130118, 2.138423951691948e-05, 0.015099899843335152, 0.019954465329647064, 4.905779405817157e-06, -0.0013637590454891324, -0.0006817004759795964, 0.0015422694850713015, 0.007841749116778374, 2.10247731047275e-06, -0.005235748831182718, 27.86695098876953, 0.7759490013122559, 12.881988525390625, -1.881523847579956, -0.36333078145980835, 1.6381293535232544, -0.736835777759552, 0.2248155176639557, 1.3479669094085693, 0.28136640787124634, 0.15967580676078796, 0.10937095433473587, 0.905690610408783, 0.017587490379810333, 0.387044757604599, 0.10158061236143112, -0.2344927191734314, -0.22270092368125916, 8.480076940031722e-05, 0.0006351958145387471, -0.00815725140273571, -0.010466628707945347, 0.0014997655525803566, -0.00021805746655445546, -0.0026783489156514406, 0.009058007039129734, -0.014055824838578701, -0.014158069156110287, 0.004905973561108112, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6540234684944153, 0.8813810348510742, 0.5281228423118591, 0.6532086133956909, 0.18824923038482666, 0.33830779790878296, 0.1760580986738205, 0.034947074949741364, 0.02385747991502285, 0.04628726467490196, 0.0520118847489357, 0.00939141120761633, 0.05359240993857384, 0.044699132442474365, 0.007754679303616285, 0.004380698315799236, 0.0405702218413353, 0.037002988159656525, 0.01155787892639637, 0.0029698354192078114, 0.03780249133706093, 0.06204986572265625, 0.00016351813974324614, 0.00448992196470499, 0.008323981426656246, 0.01537290308624506, 0.05246223136782646, 5.9044428780907765e-05, 0.0070089735090732574, 4.593600749969482, 2.1804301738739014, 1.5343689918518066, 1.7670514583587646, 0.3313683569431305, 0.6209564805030823, 0.4571274518966675, 0.5964754819869995, 1.5444543361663818, 0.41444092988967896, 0.2934544086456299, 0.14272522926330566, 0.9309110641479492, 0.22039037942886353, 0.41624096035957336, 0.09722109138965607, 0.4453411400318146, 0.2682397663593292, 0.03219855949282646, 0.009292635135352612, 0.08715173602104187, 0.05387059226632118, 0.03686125576496124, 0.01085766963660717, 0.023758109658956528, 0.1297297477722168, 0.08536116033792496, 0.03732623532414436, 0.010669266805052757, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2369]}, "observation.state.tcp": {"min": [0.3619685173034668, 0.17502178251743317, 0.9725630283355713, -1.229154109954834, 1.2186881303787231, -1.511691927909851, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2435671091079712, -0.28632256388664246, 0.9611006379127502, -0.7817593812942505, 1.2124253511428833, 0.42730236053466797, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.430256724357605, 0.21559318900108337, 1.0516316890716553, -1.0134822130203247, 1.6801347732543945, -1.2294565439224243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4688330888748169, -0.0541805624961853, 1.1438565254211426, 1.2080672979354858, 1.9510170221328735, 1.4810317754745483, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4208582043647766, 0.19394871592521667, 1.0035301446914673, -1.185768723487854, 1.5955718755722046, -1.4528474807739258, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40211111307144165, -0.14154687523841858, 1.0594518184661865, -0.3865830898284912, 1.6979224681854248, 0.6745808720588684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007254528813064098, 0.007852540351450443, 0.01938658021390438, 0.02437233179807663, 0.07361260056495667, 0.0480567142367363, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.061632268130779266, 0.0592195950448513, 0.050402093678712845, 0.2817721962928772, 0.13102248311042786, 0.1637788563966751, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2369]}, "action": {"min": [1.0505002737045288, -0.778441846370697, -0.22549518942832947, 1.056705117225647, -0.026146335527300835, -0.765385627746582, 0.36631327867507935, 0.0, 0.0, -0.2483028918504715, 0.0, 0.0, 0.0, -0.04623488709330559, 0.0, 0.0, 0.0, -0.024857698008418083, 0.0, 0.0, 0.0, -0.040826499462127686, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9799370765686035, -1.1237168312072754, -0.24294181168079376, 0.9909792542457581, -1.7418220043182373, -0.76474928855896, -0.29921796917915344, 0.0, -0.08000373840332031, -0.2139047086238861, -0.19904190301895142, 0.0, 0.0, -0.07376638799905777, 0.0, 0.0, 0.0, -0.08804573863744736, 0.0, 0.0, 0.0, -0.13288913667201996, 0.0, 0.0, -9.749600238251332e-09, 0.0, -0.15309128165245056, 0.0, 0.0, 0.5625876188278198, -1.1069587469100952, 0.5439882278442383, -0.001133018173277378, -1.3187538570491597e-05, -0.005746504757553339, -0.7652977108955383], "max": [1.2255501747131348, -0.5394993424415588, -0.001977526815608144, 1.5660731792449951, 0.09186094254255295, -0.03931284695863724, 0.6141548156738281, 1.3113925457000732, 0.2926894724369049, 0.0, 0.2792372405529022, 0.5667368173599243, 0.40704357624053955, 0.0821465328335762, 0.04195668175816536, 0.03823903575539589, 0.14353425800800323, 0.15540046989917755, 0.028413984924554825, 0.02279600128531456, 0.007606093306094408, 0.18257829546928406, 0.00209809304215014, 0.002073804847896099, 0.26180002093315125, 0.01316701527684927, 0.24690048396587372, 0.005613960325717926, 0.005374357104301453, 1.4266016483306885, -0.34074920415878296, -0.003749132389202714, 1.8505399227142334, 0.09635522216558456, -0.05042107775807381, 0.8033057451248169, 1.4077855348587036, 0.2918066382408142, 0.21431738138198853, 0.23125389218330383, 0.6933097243309021, 1.1976674795150757, 0.1415024995803833, 0.7848312854766846, 0.5196143388748169, 1.522281527519226, 0.2754761874675751, 1.395221471786499, 0.7069587111473083, 1.5297497510910034, 0.29781749844551086, 1.466475486755371, 0.916681170463562, 0.16978201270103455, 1.262298583984375, 0.2916800081729889, 1.2294881343841553, 1.2285810708999634, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 3.6139976558013537e-20, 1.464301658415934e-05, 0.1121179461479187, -0.6000000238418579], "mean": [1.1753101348876953, -0.5940044522285461, -0.22306734323501587, 1.1345841884613037, 0.07524743676185608, -0.15323594212532043, 0.4024941623210907, 1.27895987033844, 0.2869611084461212, -0.17744426429271698, 0.2670660614967346, 0.554478645324707, 0.3827451467514038, 0.07281188666820526, 0.03979053348302841, 0.03642823174595833, 0.11928677558898926, 0.143451988697052, 0.024053145200014114, 0.01973452791571617, 0.003477148013189435, 0.16195234656333923, 0.0009827995672821999, 0.0009716363274492323, 0.25856155157089233, 0.005650932900607586, 0.23510214686393738, 0.002480556955561042, 0.002434119349345565, 1.2652372121810913, -0.6014338135719299, -0.2138628363609314, 1.274422287940979, -1.4538238048553467, -0.28199559450149536, 0.040029264986515045, 1.2317652702331543, 0.08414150029420853, 0.014870387502014637, -0.08520884811878204, 0.15182454884052277, 0.8957667946815491, 0.055903248488903046, 0.16106687486171722, 0.24276196956634521, 1.1482422351837158, -0.04675643891096115, 1.159218430519104, 0.3783445954322815, 1.2661192417144775, -0.09760066121816635, 1.2367957830429077, 0.5759447813034058, 0.038221485912799835, 1.1343871355056763, -0.1175742968916893, 0.6492225527763367, 1.0538914203643799, 0.562696635723114, -1.1068609952926636, 0.5441053509712219, -0.0008848904981277883, 2.0080967999547283e-07, 0.07858302444219589, -0.7246004343032837], "std": [0.03599335998296738, 0.039386261254549026, 0.019021665677428246, 0.07476756721735, 0.0147062037140131, 0.10865695029497147, 0.03368993103504181, 0.12929224967956543, 0.03205273672938347, 0.029193449765443802, 0.030597712844610214, 0.06177986413240433, 0.050214581191539764, 0.012238320894539356, 0.005130172241479158, 0.004554822575300932, 0.024392113089561462, 0.023402802646160126, 0.0048417216166853905, 0.0038355723954737186, 0.0030026354361325502, 0.02880244329571724, 0.000841790228150785, 0.0008320700726471841, 0.02878790721297264, 0.004566594958305359, 0.03193119913339615, 0.001992788864299655, 0.00195520487613976, 0.1139150932431221, 0.19110335409641266, 0.024599885568022728, 0.21128584444522858, 0.29402169585227966, 0.12942416965961456, 0.16718660295009613, 0.15822649002075195, 0.059432003647089005, 0.06483152508735657, 0.05830569937825203, 0.12102092057466507, 0.19344036281108856, 0.0230045635253191, 0.14294111728668213, 0.13821598887443542, 0.19752159714698792, 0.04403655603528023, 0.2588595449924469, 0.10067299753427505, 0.23623692989349365, 0.05974677577614784, 0.27093422412872314, 0.1642734557390213, 0.02616056054830551, 0.21727757155895233, 0.061689022928476334, 0.24295403063297272, 0.24563971161842346, 1.4473537703452166e-05, 7.135491159715457e-06, 2.7561309252632782e-05, 0.00017840666987467557, 7.262454346346203e-06, 0.02339668944478035, 0.025783315300941467], "count": [2369]}, "observation.state.tcp_pose": {"min": [0.3619685173034668, 0.17502178251743317, 0.9725630283355713, -1.229154109954834, 1.2186881303787231, -1.511691927909851, 0.2435671091079712, -0.28632256388664246, 0.9611006379127502, -0.7817593812942505, 1.2124253511428833, 0.42730236053466797], "max": [0.430256724357605, 0.21559318900108337, 1.0516316890716553, -1.0134822130203247, 1.6801347732543945, -1.2294565439224243, 0.4688330888748169, -0.0541805624961853, 1.1438565254211426, 1.2080672979354858, 1.9510170221328735, 1.4810317754745483], "mean": [0.4208582043647766, 0.19394871592521667, 1.0035301446914673, -1.185768723487854, 1.5955718755722046, -1.4528474807739258, 0.40211111307144165, -0.14154687523841858, 1.0594518184661865, -0.3865830898284912, 1.6979224681854248, 0.6745808720588684], "std": [0.007254528813064098, 0.007852540351450443, 0.01938658021390438, 0.02437233179807663, 0.07361260056495667, 0.0480567142367363, 0.061632268130779266, 0.0592195950448513, 0.050402093678712845, 0.2817721962928772, 0.13102248311042786, 0.1637788563966751], "count": [2369]}, "action.tcp_pose": {"min": [0.3622337281703949, 0.175019770860672, 0.972499668598175, -1.229343295097351, 1.2199124097824097, -1.5116709470748901, 0.24265126883983612, -0.2872655987739563, 0.9610301852226257, -0.782256007194519, 1.2123733758926392, 0.42741698026657104], "max": [0.4302799105644226, 0.21585248410701752, 1.051041603088379, -1.012879729270935, 1.6801180839538574, -1.2308053970336914, 0.4687804877758026, -0.054136648774147034, 1.1439653635025024, 1.2035093307495117, 1.9514161348342896, 1.5338330268859863], "mean": [0.42086395621299744, 0.19394372403621674, 1.0035309791564941, -1.1857715845108032, 1.595507264137268, -1.4528614282608032, 0.4022488594055176, -0.14176350831985474, 1.0600240230560303, -0.38670292496681213, 1.6959898471832275, 0.6745080351829529], "std": [0.007277102675288916, 0.007857213728129864, 0.019416678696870804, 0.024450667202472687, 0.07378165423870087, 0.04807690531015396, 0.06153247505426407, 0.059450987726449966, 0.05053439736366272, 0.281656414270401, 0.13346274197101593, 0.16486236453056335], "count": [2369]}, "subtask_index": {"min": [54], "max": [1584], "mean": [1479.855213170114], "std": [305.85390458350065], "count": [2369]}, "observation.tactile": {"min": [-0.014532962813973427, -4.108561188331805e-05, -8.882681140676141e-05, -0.0022635674104094505, -0.00010893581929849461, -0.0003760780964512378, -0.004949826747179031, -4.406793959788047e-05, -9.516015416011214e-05, -0.000503506395034492, -4.805219214176759e-05, -0.000100940145784989, -0.00487458985298872, -4.90648890263401e-05, -0.00010975354962283745, -0.0014459374360740185, -7.317781273741275e-05, -9.7169671789743e-05, -0.009372861124575138, -3.3186042855959386e-05, -7.147472933866084e-05, -0.001883354620076716, -2.2537557015311904e-05, -0.00021181625197641551, -0.0023344531655311584, -4.5617307478096336e-05, -0.00010163022670894861, -0.0008474417263641953, -4.280822031432763e-05, -6.297117215581238e-05, -2.4828896522521973, -3.989345714217052e-05, -9.208734991261736e-05, -0.20650522410869598, -0.011281339451670647, -0.0304811242967844, -7.318356513977051, -0.3744102418422699, -0.00010835199645953253, -0.3170793652534485, -0.04762941226363182, -0.10964731127023697, -0.2674999237060547, -4.65243574581109e-05, -0.00010308362834621221, -0.003454639809206128, -0.001620951690711081, -0.0050306194461882114, -0.019914859905838966, -5.5970365792745724e-05, -0.00012659162166528404, -0.002210573758929968, -6.335420039249584e-05, -0.000468372309114784, -0.2875428795814514, -4.3989399273414165e-05, -9.819433034863323e-05, -0.0009824471781030297, -4.175499634584412e-05, -0.0036966472398489714], "max": [0.003052703570574522, 0.03254754841327667, 0.09844416379928589, 1.7143611330538988e-06, 0.0003148818213958293, 6.721810223098146e-06, 0.004819295834749937, 0.010519885458052158, 0.030811676755547523, 1.6131334632518701e-06, 0.00017481316172052175, 1.2844720913562924e-05, 0.01753060147166252, 0.02715020254254341, 0.08085963129997253, 2.0568038507917663e-06, 0.00037408157368190587, 0.00021093632676638663, 0.017167771235108376, 0.027414267882704735, 0.08090293407440186, 1.333652789980988e-06, 0.0003273875918239355, 0.00023237045388668776, 0.014672785997390747, 0.01814577542245388, 0.05744142085313797, 1.9068093024543487e-06, 0.0002362040977459401, 0.00014638113498222083, 5.834647178649902, 6.799979209899902, 13.017833709716797, 1.693264493951574e-06, 0.03434187173843384, 0.0910472720861435, 0.14129717648029327, 12.690079689025879, 19.823984146118164, 2.013501216424629e-06, 0.011168497614562511, 0.027834253385663033, 0.027655910700559616, 0.069463811814785, 0.16106607019901276, 1.9136641640216112e-06, 0.00033485013409517705, 0.00036244740476831794, 0.10176108032464981, 0.043945249170064926, 0.13534021377563477, 2.308152033947408e-06, 0.0007700850255787373, 0.0013198114465922117, 0.011091718450188637, 0.03929141163825989, 0.07896949350833893, 1.8204384559794562e-06, 0.0003415816172491759, 0.0001651341444812715], "mean": [-0.0008075363002717495, 0.003374655731022358, 0.009925512596964836, -0.00014007634308654815, 2.5234798158635385e-05, -1.948786484717857e-05, 0.00017671380192041397, 0.00016312743537127972, 0.0005038944073021412, -8.543699550500605e-06, 1.9380743765395891e-07, 2.981230409204727e-06, 0.0005047178128734231, 0.0013743926538154483, 0.004081945866346359, -7.403065683320165e-05, 1.5437968613696285e-05, 4.472888576856349e-06, -0.0003472233365755528, 0.0015618070028722286, 0.00456294696778059, -8.186746708815917e-05, 6.6845059336628765e-06, -8.002783033589367e-06, 0.00016419717576354742, 0.0017399806529283524, 0.005048566963523626, -7.948497659526765e-05, 1.852016430348158e-05, -2.509797013772186e-06, 1.8277976512908936, 1.8479783535003662, 3.969794511795044, -0.06631485372781754, 0.003728135023266077, 0.0288456492125988, -1.9627805948257446, 1.3397411108016968, 6.489349842071533, -0.10145489126443863, -0.007532061077654362, -0.030561018735170364, 5.790490104118362e-05, 0.0016754299867898226, 0.004971666261553764, -8.455907664028928e-05, 1.2298432011448313e-05, -3.1620002118870616e-06, -0.00011217511200811714, 0.0017250595847144723, 0.005128100048750639, -0.00010309423669241369, 6.292608304647729e-06, -6.164104433992179e-06, -0.00019335512479301542, 0.000998908537440002, 0.0029384642839431763, -5.413818871602416e-05, 5.579416665568715e-06, -3.895367171935504e-06], "std": [0.001673970720730722, 0.004216561559587717, 0.012248012237250805, 0.0002101308200508356, 3.651996667031199e-05, 3.788936373894103e-05, 0.0004152490000706166, 0.000768217199947685, 0.002237086184322834, 3.7486552173504606e-05, 9.001206308312248e-06, 8.206156053347513e-06, 0.0014084258582442999, 0.0032756878063082695, 0.009754427708685398, 0.00017892025061883032, 4.777322828886099e-05, 1.6239766409853473e-05, 0.0013684692094102502, 0.0030720860231667757, 0.008980700746178627, 0.00017730679246596992, 2.0055300410604104e-05, 2.696816409297753e-05, 0.0006805193843320012, 0.002607545582577586, 0.007547781337052584, 0.0001193783973576501, 3.0432967832894064e-05, 1.2879720998171251e-05, 1.997495412826538, 1.918471097946167, 3.721400022506714, 0.06451704353094101, 0.0075296517461538315, 0.030808376148343086, 1.9571149349212646, 2.2893383502960205, 6.321755886077881, 0.09553998708724976, 0.009462171234190464, 0.03129713982343674, 0.006700578611344099, 0.003380077425390482, 0.009727698750793934, 0.00017593265511095524, 5.112417784403078e-05, 0.00011773875303333625, 0.004230184946209192, 0.0037568893749266863, 0.011018789373338223, 0.00022415818239096552, 3.0220422559068538e-05, 6.41246879240498e-05, 0.0066355024464428425, 0.0022389173973351717, 0.006282144691795111, 0.00011535336670931429, 2.0734627469209954e-05, 8.689563401276246e-05], "count": [2369]}, "timestamp": {"min": [0.0], "max": [78.93333333333334], "mean": [39.46666666666667], "std": [22.795711097582465], "count": [2369]}, "frame_index": {"min": [0], "max": [2368], "mean": [1184.0], "std": [683.871332927474], "count": [2369]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [2369]}, "index": {"min": [75299], "max": [77667], "mean": [76483.0], "std": [683.871332927474], "count": [2369]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2369]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5530681610107422]], [[0.5536577701568604]], [[0.5545490384101868]]], "std": [[[0.30084228515625]], [[0.29999828338623047]], [[0.3009413182735443]]], "count": [2369]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29846805334091187]], [[0.3043406307697296]], [[0.3030281066894531]]], "std": [[[0.17952565848827362]], [[0.1804075390100479]], [[0.1818908154964447]]], "count": [2369]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31032124161720276]], [[0.3144215941429138]], [[0.3122456967830658]]], "std": [[[0.18381176888942719]], [[0.1839037984609604]], [[0.1841856688261032]]], "count": [2369]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5606948137283325]], [[0.5609720945358276]], [[0.561427891254425]]], "std": [[[0.3080286383628845]], [[0.3075233995914459]], [[0.3085455298423767]]], "count": [2369]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6196078658103943]], [[0.6196078658103943]], [[0.6196078658103943]]], "mean": [[[0.003453125013038516]], [[0.003453125013038516]], [[0.003453125013038516]]], "std": [[[0.03592079505324364]], [[0.03592079505324364]], [[0.03592079505324364]]], "count": [2369]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4927729070186615]], [[0.4927729070186615]], [[0.4927729070186615]]], "std": [[[0.22280964255332947]], [[0.22280964255332947]], [[0.22280964255332947]]], "count": [2369]}}}
+{"episode_index": 29, "stats": {"observation.state": {"min": [1.0500025749206543, -0.7799947261810303, -0.2255014032125473, 1.0351991653442383, -0.0575682632625103, -0.76998370885849, 0.3934503495693207, 0.006874037906527519, -0.00019368596258573234, -0.2590552270412445, 0.005499719642102718, 0.003528609871864319, 0.003600721713155508, -0.06228649616241455, 0.0034523785579949617, 0.0008190020453184843, -0.0031410029623657465, -0.041689183562994, 0.0029701730236411095, 0.0008331916178576648, -0.0031858955044299364, -0.026958556845784187, 0.006804770324379206, 0.000846050854306668, 0.0056022037751972675, -0.0028463806957006454, -0.010924085974693298, 0.005748527590185404, 0.0008544759475626051, 0.9350894689559937, -1.128491759300232, -0.2430282086133957, 1.0206542015075684, -1.7592167854309082, -0.7691465020179749, -0.29168224334716797, 0.0055641294457018375, -0.09882238507270813, -0.20427905023097992, -0.18241560459136963, 0.00324921403080225, -0.001496907090768218, -0.13927148282527924, 0.0037608486600220203, 0.0008088033646345139, 0.003675787942484021, -0.09138516336679459, 0.004758588504046202, 0.0008691088296473026, -0.002239232650026679, -0.14149005711078644, 0.0035222277510911226, 0.0008389560971409082, 0.006367502734065056, -0.002785781864076853, -0.16599680483341217, 0.0032190761994570494, 0.0008695522556081414, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0013422331539914012, 0.0, -0.0001917476038215682, -0.7659357786178589], "max": [1.2861371040344238, -0.5752905607223511, -6.950850547582377e-06, 1.56998610496521, 0.124598428606987, -0.06626437604427338, 0.564260721206665, 1.378512978553772, 0.2955823242664337, 0.0018074811669066548, 0.2763964533805847, 0.573846161365509, 0.5435387492179871, 0.09096814692020416, 0.03786376863718033, 0.0408937893807888, 0.3827848434448242, 0.1695636361837387, 0.052351564168930054, 0.036142513155937195, 0.08444622159004211, 0.18611496686935425, 0.006865045987069607, 0.008469820953905582, 0.2410542517900467, 0.13279370963573456, 0.25406011939048767, 0.026423443108797073, 0.02241015061736107, 1.419387936592102, -0.29709240794181824, -0.0003698331711348146, 1.7562767267227173, 0.17338739335536957, -0.16053348779678345, 0.6981610655784607, 1.3548320531845093, 0.2552970349788666, 0.30201029777526855, 0.1795317530632019, 0.4515308439731598, 1.1475132703781128, 0.13464464247226715, 0.5244747400283813, 0.5829201936721802, 1.425885558128357, 0.24804797768592834, 1.3447704315185547, 0.5511870980262756, 1.4096413850784302, 0.2714575529098511, 1.5066170692443848, 0.9183851480484009, 0.17223724722862244, 1.2916913032531738, 0.28263214230537415, 1.3456004858016968, 1.308159589767456, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.0003834952076431364, 0.0, 0.12501943111419678, -0.5742840766906738], "mean": [1.1725484132766724, -0.6249882578849792, -0.22278675436973572, 1.1160067319869995, -0.017730647698044777, -0.16933055222034454, 0.43097659945487976, 1.3290919065475464, 0.2837117314338684, -0.17876359820365906, 0.18839623034000397, 0.5556243062019348, 0.5165411233901978, 0.08123627305030823, 0.036801569163799286, 0.03914323076605797, 0.34806182980537415, 0.15814632177352905, 0.05027336627244949, 0.03414195030927658, 0.06879207491874695, 0.17005817592144012, 0.006831885781139135, 0.007565738633275032, 0.12562309205532074, 0.12063341587781906, 0.21968510746955872, 0.02545696683228016, 0.02092703990638256, 1.2375500202178955, -0.612410306930542, -0.21067498624324799, 1.293736457824707, -1.4442676305770874, -0.36594530940055847, -0.0031539478804916143, 1.1962544918060303, 0.04176900163292885, 0.05352608114480972, -0.05142050236463547, 0.1428532898426056, 0.8890131711959839, 0.05511801317334175, 0.16223306953907013, 0.23313279449939728, 1.1897975206375122, -0.056137945502996445, 1.179663062095642, 0.31396356225013733, 1.2915687561035156, -0.10771215707063675, 1.330762505531311, 0.6582549810409546, 0.03115326352417469, 1.174747109413147, -0.12614788115024567, 0.8050069212913513, 1.2263262271881104, 0.562690258026123, -1.1068475246429443, 0.5440226197242737, -0.0008958698017522693, 0.0, 0.10258571803569794, -0.7050827145576477], "std": [0.04369409382343292, 0.04006924852728844, 0.020089682191610336, 0.08537722378969193, 0.015254386700689793, 0.10361288487911224, 0.02964651770889759, 0.14777933061122894, 0.030205074697732925, 0.03525521606206894, 0.024025822058320045, 0.06687343865633011, 0.08031181991100311, 0.017151299864053726, 0.005016292445361614, 0.005657078232616186, 0.06940922886133194, 0.030244817957282066, 0.009184170514345169, 0.006480361334979534, 0.01607634872198105, 0.032904185354709625, 7.742948582745157e-06, 0.0013580042868852615, 0.03558359295129776, 0.025550799444317818, 0.034781910479068756, 0.00416512880474329, 0.004120685160160065, 0.10826126486063004, 0.17708638310432434, 0.02564702369272709, 0.19663403928279877, 0.3579707145690918, 0.11837219446897507, 0.187024787068367, 0.15508610010147095, 0.06569049507379532, 0.08224479109048843, 0.06538400053977966, 0.10910256952047348, 0.2149234116077423, 0.02800367772579193, 0.1362915337085724, 0.1315595507621765, 0.2448303997516632, 0.039991069585084915, 0.27436891198158264, 0.08244907855987549, 0.2779161036014557, 0.05604387819766998, 0.30917030572891235, 0.1794256567955017, 0.018852030858397484, 0.2541380226612091, 0.059209320694208145, 0.26563936471939087, 0.2850569486618042, 3.3870597690111026e-05, 4.134366463404149e-05, 7.40004179533571e-05, 0.00025625238777138293, 0.0, 0.02037598192691803, 0.033683497458696365], "count": [2152]}, "observation.state.joint_torque": {"min": [-36.47999954223633, -12.490500450134277, -19.69300079345703, -8.541999816894531, -0.2303999960422516, -1.5224000215530396, 1.236799955368042, -0.5692667961120605, -0.3196554183959961, -0.3914472162723541, -0.3951753079891205, -0.13116022944450378, -0.5046781897544861, -0.46438068151474, -0.10293588042259216, -0.04138316959142685, -0.4624617397785187, -0.357880175113678, -0.12451920658349991, -0.033534638583660126, -0.2792041003704071, -0.48644837737083435, -0.0016602561809122562, -0.03567514568567276, -0.12226471304893494, -0.21491998434066772, -0.46725907921791077, -0.04648716747760773, -0.033534638583660126, 11.381999969482422, -10.996500015258789, 4.1020002365112305, -9.805000305175781, -3.0176000595092773, -1.9088000059127808, -3.507999897003174, -1.390691876411438, -0.8965634107589722, -0.6114032864570618, -0.7331868410110474, -0.1494230479001999, -0.5651244521141052, -0.9249235391616821, -0.22579483687877655, -0.06492877006530762, -1.2070060968399048, -1.1014649868011475, -0.503057599067688, -0.17052720487117767, -1.0602080821990967, -0.37994784116744995, -0.5943716764450073, -0.08633385598659515, -0.11918610334396362, -0.964261531829834, -0.400096595287323, -0.14444229006767273, -0.1020309254527092, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.940500259399414, 11.444999694824219, -11.055000305175781, 4.540999889373779, 2.1903998851776123, 1.2319999933242798, 2.7207999229431152, 1.1869276762008667, 0.26107314229011536, 0.29327473044395447, 0.3404969573020935, 0.10957689583301544, 0.42983996868133545, 0.274406760931015, 0.08467306196689606, 0.014983562752604485, 0.3597990870475769, 0.3502044677734375, 0.11123716086149216, 0.01212955079972744, 0.3338935673236847, 0.35692068934440613, 0.004980768077075481, 0.013556556776165962, 0.07784479111433029, 0.25905534625053406, 0.3550017774105072, 0.048147425055503845, 0.013556556776165962, 39.56100082397461, 12.519000053405762, 21.5310001373291, 3.7790000438690186, 0.29440000653266907, 3.4344000816345215, 0.6976000070571899, 2.4324376583099365, 4.835583686828613, 2.3934199810028076, 1.543420433998108, 0.6391986012458801, 2.145362138748169, 0.9009369611740112, 1.0609036684036255, 0.21476440131664276, 0.7723687291145325, 0.4020155072212219, 0.10957689583301544, 0.019978083670139313, 1.1436814069747925, 0.42312371730804443, 0.15274357795715332, 0.03567514568567276, 0.1402965486049652, 0.8827071189880371, 0.5123539566993713, 0.1959102302789688, 0.04709119349718094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.228004455566406, 2.013920545578003, -12.924543380737305, -1.2372876405715942, 0.02885650098323822, 0.08546548336744308, 1.745208501815796, 0.0005118921399116516, -0.0009225962567143142, 0.022131098434329033, 0.00034127492108382285, 0.003130733733996749, -0.002331790514290333, 0.0009175515733659267, -0.00011958223331021145, -6.531567487400025e-05, -0.00581519166007638, 0.005610097665339708, -0.00014272595581132919, -0.0003882490564137697, 0.016107996925711632, 0.01483550388365984, 3.8574721656914335e-06, -0.00029309335513971746, -0.005339724477380514, 0.0031383142340928316, -0.004718394950032234, 0.00011958111281273887, -0.00039322234806604683, 27.42552947998047, 0.8678318858146667, 12.816282272338867, -2.233731508255005, -0.4902910888195038, 1.6058709621429443, -0.7775238752365112, 0.3489253520965576, 1.4896559715270996, 0.3505038619041443, 0.13304059207439423, 0.1303827315568924, 0.8355987668037415, -0.0660652443766594, 0.41394180059432983, 0.1037796288728714, -0.11511394381523132, -0.21610216796398163, 0.0007398696034215391, -0.0008696647710166872, -0.006039894185960293, -0.010021322406828403, 0.0020969260949641466, -0.002852020086720586, 0.00041793385753408074, -0.013583194464445114, 0.0021195560693740845, -0.016124233603477478, 0.004458381794393063, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7144778966903687, 1.0124232769012451, 0.6726469397544861, 0.755703330039978, 0.23292328417301178, 0.29902002215385437, 0.17849478125572205, 0.04843032360076904, 0.02443069964647293, 0.058220718055963516, 0.05740325525403023, 0.012270454317331314, 0.06273367255926132, 0.05111828073859215, 0.00768998870626092, 0.003993890713900328, 0.046934109181165695, 0.04489105939865112, 0.012177922762930393, 0.0038819091860204935, 0.04323059692978859, 0.059462323784828186, 0.00019922858336940408, 0.003434775397181511, 0.014440668746829033, 0.024037377908825874, 0.05335218459367752, 0.0031849718652665615, 0.0037327243480831385, 4.3067121505737305, 2.1472415924072266, 1.5802165269851685, 1.7123581171035767, 0.3411272168159485, 0.6834897398948669, 0.5015096068382263, 0.6406832337379456, 1.5828111171722412, 0.4921199083328247, 0.2928854525089264, 0.1532611846923828, 0.86745285987854, 0.26006436347961426, 0.4221448600292206, 0.0979565754532814, 0.28228524327278137, 0.26733773946762085, 0.02653193473815918, 0.00893939658999443, 0.08231321722269058, 0.06493064761161804, 0.028252117335796356, 0.010292340070009232, 0.025132132694125175, 0.1319916546344757, 0.09622030705213547, 0.035455282777547836, 0.007397881243377924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2152]}, "observation.state.tcp": {"min": [0.36176785826683044, 0.1920829862356186, 0.968284010887146, -1.2088500261306763, 1.2178473472595215, -1.4616775512695312, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23772422969341278, -0.2790152132511139, 0.9481627345085144, -0.6906325221061707, 1.1741896867752075, 0.42271772027015686, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43128302693367004, 0.2346855103969574, 1.0733325481414795, -0.9693941473960876, 1.6838579177856445, -1.2289607524871826, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4723781943321228, -0.041307393461465836, 1.1414216756820679, 1.2083234786987305, 1.901044249534607, 1.548646330833435, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.42316216230392456, 0.21696653962135315, 1.0047709941864014, -1.0796767473220825, 1.5816197395324707, -1.390854001045227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39742472767829895, -0.14580364525318146, 1.052407145500183, -0.30296260118484497, 1.641081690788269, 0.6611043214797974, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.009135501459240913, 0.006984747014939785, 0.02490452118217945, 0.03905360773205757, 0.07871139049530029, 0.02890620008111, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05906447023153305, 0.05808848887681961, 0.04654553532600403, 0.3258605897426605, 0.12818166613578796, 0.1914876252412796, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2152]}, "action": {"min": [1.050621509552002, -0.7797922492027283, -0.22549518942832947, 1.0351471900939941, -0.05754804611206055, -0.7694281935691833, 0.3934367299079895, 0.0, 0.0, -0.2587168514728546, 0.0, 0.0, 0.0, -0.06122329831123352, 0.0, 0.0, 0.0, -0.04808860644698143, 0.0, 0.0, 0.0, -0.0574498176574707, 0.0, 0.0, 0.0, 0.0, -0.020177001133561134, 0.0, 0.0, 0.9350989460945129, -1.128607153892517, -0.24300330877304077, 1.020674705505371, -1.7592072486877441, -0.7688876986503601, -0.2917121350765228, 0.0, -0.09766799211502075, -0.20435087382793427, -0.1837642639875412, 0.0, 0.0, -0.14388464391231537, 0.0, 0.0, 0.0, -0.09687826037406921, 0.0, 0.0, 0.0, -0.14594747126102448, 0.0, 0.0, -8.792603978236002e-09, 0.0, -0.16694824397563934, 0.0, 0.0, 0.5625874400138855, -1.1069588661193848, 0.544023871421814, -0.001341128023341298, -7.601045945193619e-05, -1.9235303459241796e-18, -0.7657597661018372], "max": [1.2867701053619385, -0.5752872824668884, -0.000595172808971256, 1.5695029497146606, 0.12482669204473495, -0.06627324968576431, 0.5644897818565369, 1.3879121541976929, 0.2914138436317444, 0.0, 0.2861368656158447, 0.5839008092880249, 0.5516197681427002, 0.08981409668922424, 0.04707016050815582, 0.04507846385240555, 0.38378292322158813, 0.16980551183223724, 0.05727021023631096, 0.04111810401082039, 0.08554606139659882, 0.19424882531166077, 0.013940813019871712, 0.013798577710986137, 0.26180002093315125, 0.13723304867744446, 0.25480884313583374, 0.03655732795596123, 0.025416936725378036, 1.4193756580352783, -0.29709842801094055, -0.0009895943803712726, 1.7565861940383911, 0.17408280074596405, -0.16040074825286865, 0.8007039427757263, 1.3560478687286377, 0.2669130265712738, 0.3089102506637573, 0.19090835750102997, 0.45594921708106995, 1.1997199058532715, 0.13639229536056519, 0.5380685925483704, 0.6008464097976685, 1.453584909439087, 0.250160276889801, 1.349351167678833, 0.5545305609703064, 1.468530535697937, 0.2735385000705719, 1.5099021196365356, 0.9192363619804382, 0.1848895251750946, 1.297057867050171, 0.28635933995246887, 1.3481934070587158, 1.3790943622589111, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 0.00040768954204395413, 4.672486102208495e-05, 0.125530406832695, -0.5740272998809814], "mean": [1.1726781129837036, -0.6250287890434265, -0.22281533479690552, 1.1160881519317627, -0.01772879622876644, -0.16951583325862885, 0.43100911378860474, 1.3391567468643188, 0.28437721729278564, -0.17631208896636963, 0.18902413547039032, 0.5621152520179749, 0.5182636976242065, 0.0827881395816803, 0.044479914009571075, 0.042910367250442505, 0.34852135181427, 0.15990310907363892, 0.04872956499457359, 0.03820379450917244, 0.0696885883808136, 0.1767004430294037, 0.011828032322227955, 0.011730408295989037, 0.11911565065383911, 0.12138260155916214, 0.2189321368932724, 0.025521287694573402, 0.02336030639708042, 1.2385390996932983, -0.6132203340530396, -0.21068301796913147, 1.2942206859588623, -1.444169044494629, -0.3663500249385834, -0.001989940647035837, 1.198097586631775, 0.046649787575006485, 0.05285397544503212, -0.05074916034936905, 0.14334166049957275, 0.9014577269554138, 0.04969557374715805, 0.16568467020988464, 0.2715035676956177, 1.1880449056625366, -0.05638764053583145, 1.1788976192474365, 0.3136804401874542, 1.2894052267074585, -0.10705394297838211, 1.3299591541290283, 0.6578792333602905, 0.03243368864059448, 1.1726653575897217, -0.12633061408996582, 0.8026999831199646, 1.2555958032608032, 0.5626921057701111, -1.1068536043167114, 0.5440807938575745, -0.0009383106953464448, 3.557397860731726e-07, 0.10263396054506302, -0.7051310539245605], "std": [0.0437421053647995, 0.04009329155087471, 0.01994134671986103, 0.08544053882360458, 0.01527719758450985, 0.10406900942325592, 0.029728254303336143, 0.16009780764579773, 0.03358455374836922, 0.03713177144527435, 0.027652177959680557, 0.06914986670017242, 0.07931762933731079, 0.01612004265189171, 0.006398510653525591, 0.006071479059755802, 0.06866692006587982, 0.028663652017712593, 0.009393035434186459, 0.007277401629835367, 0.016495447605848312, 0.03226194158196449, 0.002675160765647888, 0.0026503780391067266, 0.040754131972789764, 0.02580711990594864, 0.03240547701716423, 0.005315280519425869, 0.004853858612477779, 0.10805408656597137, 0.17764627933502197, 0.02563048154115677, 0.1970648616552353, 0.3595784604549408, 0.11863068491220474, 0.19150587916374207, 0.16213026642799377, 0.06923335045576096, 0.0836864560842514, 0.06613480299711227, 0.11028177291154861, 0.22323255240917206, 0.02617550827562809, 0.13759048283100128, 0.15442585945129395, 0.24514226615428925, 0.04129675030708313, 0.27475929260253906, 0.08268417418003082, 0.27816078066825867, 0.056626927107572556, 0.3101631700992584, 0.17981396615505219, 0.020523114129900932, 0.25440162420272827, 0.059720270335674286, 0.26580506563186646, 0.2950628697872162, 9.885532563203014e-06, 1.174848512164317e-05, 3.0465236704912968e-05, 0.0002621481253299862, 7.899495358287822e-06, 0.020426765084266663, 0.03373453766107559], "count": [2152]}, "observation.state.tcp_pose": {"min": [0.36176785826683044, 0.1920829862356186, 0.968284010887146, -1.2088500261306763, 1.2178473472595215, -1.4616775512695312, 0.23772422969341278, -0.2790152132511139, 0.9481627345085144, -0.6906325221061707, 1.1741896867752075, 0.42271772027015686], "max": [0.43128302693367004, 0.2346855103969574, 1.0733325481414795, -0.9693941473960876, 1.6838579177856445, -1.2289607524871826, 0.4723781943321228, -0.041307393461465836, 1.1414216756820679, 1.2083234786987305, 1.901044249534607, 1.548646330833435], "mean": [0.42316216230392456, 0.21696653962135315, 1.0047709941864014, -1.0796767473220825, 1.5816197395324707, -1.390854001045227, 0.39742472767829895, -0.14580364525318146, 1.052407145500183, -0.30296260118484497, 1.641081690788269, 0.6611043214797974], "std": [0.009135501459240913, 0.006984747014939785, 0.02490452118217945, 0.03905360773205757, 0.07871139049530029, 0.02890620008111, 0.05906447023153305, 0.05808848887681961, 0.04654553532600403, 0.3258605897426605, 0.12818166613578796, 0.1914876252412796], "count": [2152]}, "action.tcp_pose": {"min": [0.36189353466033936, 0.19239892065525055, 0.9682815670967102, -1.2087355852127075, 1.218184471130371, -1.4616680145263672, 0.23735439777374268, -0.28004229068756104, 0.9481817483901978, -0.6906875371932983, 1.1535978317260742, 0.42216387391090393], "max": [0.4312264323234558, 0.23468837141990662, 1.0734772682189941, -0.9692471027374268, 1.6838207244873047, -1.2291293144226074, 0.4723648428916931, -0.04129992052912712, 1.1415014266967773, 1.2080557346343994, 1.9010082483291626, 1.589733600616455], "mean": [0.4231853187084198, 0.2169763743877411, 1.0047928094863892, -1.079644799232483, 1.581478476524353, -1.390788197517395, 0.3975459039211273, -0.14608997106552124, 1.052993893623352, -0.3034035563468933, 1.638358473777771, 0.6614522933959961], "std": [0.009075031615793705, 0.006978071294724941, 0.025009214878082275, 0.03883229196071625, 0.07910609990358353, 0.02890150621533394, 0.0590333454310894, 0.05830422416329384, 0.04667250066995621, 0.32482799887657166, 0.1324974149465561, 0.19435590505599976], "count": [2152]}, "subtask_index": {"min": [54], "max": [1634], "mean": [1560.9409851301116], "std": [270.53906285118524], "count": [2152]}, "observation.tactile": {"min": [-0.013950669206678867, -4.206413359497674e-05, -9.19221420190297e-05, -0.0014376944163814187, -7.966033444972709e-05, -0.0002829298609867692, -0.008960842154920101, -4.916606121696532e-05, -0.00011209394870093092, -0.0007102602976374328, -8.800854993751273e-05, -0.00015561695909127593, -0.01193059328943491, -4.7177556552924216e-05, -0.00010548465797910467, -0.0013409582898020744, -4.358860678621568e-05, -0.0002616569399833679, -0.00971502810716629, -3.6637728044297546e-05, -8.00897105364129e-05, -0.0012433624360710382, -1.5767375316499965e-06, -0.00019350081856828183, -0.0049194954335689545, -4.3344545701984316e-05, -9.66624211287126e-05, -0.0007102381205186248, -4.12006484111771e-05, -0.00010543753887759522, -2.5702602863311768, -3.756477599381469e-05, -8.544191223336384e-05, -0.21110665798187256, -0.018955178558826447, -0.042932040989398956, -6.561206817626953, -0.6888906359672546, -0.00010899390326812863, -0.21131591498851776, -0.022365717217326164, -0.10122942179441452, -0.008389396592974663, -4.4454907765612006e-05, -9.852847142610699e-05, -0.0009006980690173805, -6.988930545048788e-05, -0.00018992680998053402, -0.01791202463209629, -5.5227843404281884e-05, -0.00012285824050195515, -0.002312739845365286, -4.876942330156453e-05, -0.0004202296840958297, -0.3037860691547394, -4.0139551856555045e-05, -8.82324602571316e-05, -0.0017162831500172615, -0.00042026673327200115, -0.004518298432230949], "max": [0.00184722151607275, 0.022319277748465538, 0.0670284554362297, 1.7509480585431447e-06, 0.0002042402047663927, 6.871840469102608e-06, 0.0013464883668348193, 0.0125980069860816, 0.03715601563453674, 1.909431830426911e-06, 0.00021477462723851204, 6.970342383283423e-06, 0.008039343170821667, 0.01982414908707142, 0.05971584841609001, 1.9715639609785285e-06, 0.00018402512068860233, 8.763639925746247e-05, 0.009449214674532413, 0.018246019259095192, 0.055625300854444504, 1.4776715033804066e-06, 0.0002699226897675544, 0.00012146957305958495, 0.00426881480962038, 0.013816902413964272, 0.041121575981378555, 1.810396042856155e-06, 0.00019616965437307954, 9.581983249518089e-06, 5.7257208824157715, 9.083938598632812, 12.9345703125, 1.604459043846873e-06, 0.03053140826523304, 0.09211835265159607, 0.06422508507966995, 7.32917594909668, 12.938610076904297, 2.0713830508611863e-06, 0.005775016732513905, 0.0018529249355196953, 0.02131231687963009, 0.0156365055590868, 0.055496346205472946, 1.8084650719174533e-06, 0.0002912574855145067, 0.00030553629039786756, 0.12981387972831726, 0.04406929761171341, 0.13814079761505127, 2.2593389985559043e-06, 0.0007558504003100097, 0.001993099693208933, 0.002309368923306465, 0.056112054735422134, 0.10476548969745636, 1.6462572602904402e-06, 0.0001856516464613378, 2.256952939205803e-05], "mean": [-0.0005288720712997019, 0.001371846068650484, 0.004091768991202116, -6.684302934445441e-05, -1.4481483958661556e-06, -7.552272109023761e-06, 0.00010748970817076042, 0.0003526646760292351, 0.0010857348097488284, -1.9414503185544163e-05, 3.6796862445953593e-07, 1.437266064385767e-06, -0.00034000552841462195, 0.0010570547310635448, 0.0031571181025356054, -6.163084617583081e-05, 7.015275116373232e-08, -7.543692845501937e-06, 5.7546400057617575e-05, 0.0004970598383806646, 0.0014609593199566007, -2.280326407344546e-05, 3.4532681638665963e-06, 4.803348474524682e-07, -0.00011495321814436466, 0.0007772601675242186, 0.00228005088865757, -3.5971148463431746e-05, 2.4753699108259752e-06, -1.4735015838596155e-06, 1.5081604719161987, 2.118131637573242, 4.501120090484619, -0.07063096016645432, 0.0035924704279750586, 0.022518958896398544, -2.0638246536254883, 1.1421459913253784, 4.737760066986084, -0.07513976097106934, -0.0049934242852032185, -0.03089059889316559, 0.00025850237580016255, 0.0007855544681660831, 0.0024255395401269197, -4.3596530304057524e-05, 6.974160896788817e-06, 2.288933274030569e-06, -0.001981949433684349, 0.008128788322210312, 0.023739414289593697, -0.0004996591014787555, 2.9057800929876976e-05, -5.272704947856255e-05, -0.001304701203480363, 0.00660861749202013, 0.019263865426182747, -0.00043899225420318544, 1.1293002899037674e-05, -3.1710329494671896e-05], "std": [0.0015681901713833213, 0.002526334021240473, 0.007490471471101046, 0.00013334682444110513, 1.7763717551133595e-05, 2.8701942937914282e-05, 0.0007601127726957202, 0.00117897626478225, 0.0035393736325204372, 6.485651101684198e-05, 1.4576090507034678e-05, 1.4642680071119685e-05, 0.0018056458793580532, 0.002595412079244852, 0.0077019790187478065, 0.0001619967515580356, 1.2025630894640926e-05, 3.799268597504124e-05, 0.0008093112846836448, 0.0014525301521643996, 0.004230068530887365, 7.179110252764076e-05, 1.4674010344606359e-05, 1.544934457342606e-05, 0.0008214891422539949, 0.0016384166665375233, 0.0047675915993750095, 7.672570063732564e-05, 1.1066200386267155e-05, 1.4620420188293792e-05, 1.5472575426101685, 2.012624502182007, 4.075645446777344, 0.0659506618976593, 0.009262237697839737, 0.023883625864982605, 1.9174063205718994, 1.4750096797943115, 4.202450275421143, 0.06787823885679245, 0.005968657787889242, 0.029119208455085754, 0.0013229247415438294, 0.001976683968678117, 0.006104159168899059, 0.0001150403986684978, 2.5639059458626434e-05, 2.0119879991398193e-05, 0.00537727540358901, 0.006632691714912653, 0.019334517419338226, 0.0004072982119396329, 4.085548425791785e-05, 9.353065979667008e-05, 0.00827336311340332, 0.00433368980884552, 0.012276208028197289, 0.00027778177172876894, 1.9684386643348262e-05, 0.00012355476792436093], "count": [2152]}, "timestamp": {"min": [0.0], "max": [71.7], "mean": [35.85], "std": [20.707627419222447], "count": [2152]}, "frame_index": {"min": [0], "max": [2151], "mean": [1075.5], "std": [621.2288225766735], "count": [2152]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [2152]}, "index": {"min": [77668], "max": [79819], "mean": [78743.5], "std": [621.2288225766735], "count": [2152]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2152]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.555204451084137]], [[0.5559892058372498]], [[0.5571061968803406]]], "std": [[[0.29871901869773865]], [[0.2977431118488312]], [[0.2985088527202606]]], "count": [2152]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29901430010795593]], [[0.3047226369380951]], [[0.3032936453819275]]], "std": [[[0.1792779266834259]], [[0.18009579181671143]], [[0.1812683641910553]]], "count": [2152]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3106144070625305]], [[0.3142794668674469]], [[0.3122292160987854]]], "std": [[[0.18433162569999695]], [[0.1838584691286087]], [[0.1843586266040802]]], "count": [2152]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5602508187294006]], [[0.5606720447540283]], [[0.5612874627113342]]], "std": [[[0.30513817071914673]], [[0.30453091859817505]], [[0.30546966195106506]]], "count": [2152]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6117647290229797]], [[0.6117647290229797]], [[0.6117647290229797]]], "mean": [[[0.0037034580018371344]], [[0.0037034580018371344]], [[0.0037034580018371344]]], "std": [[[0.03673231229186058]], [[0.03673231229186058]], [[0.03673231229186058]]], "count": [2152]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4926811158657074]], [[0.4926811158657074]], [[0.4926811158657074]]], "std": [[[0.22282768785953522]], [[0.22282768785953522]], [[0.22282768785953522]]], "count": [2152]}}}
+{"episode_index": 30, "stats": {"observation.state": {"min": [1.0496845245361328, -0.7798567414283752, -0.22500969469547272, 1.038962960243225, -0.08067779988050461, -0.7691401243209839, 0.3621596693992615, 0.006881083827465773, -0.00022747238108422607, -0.2607649862766266, 0.005596125964075327, 0.0035222277510911226, 0.0035992497578263283, -0.10940105468034744, 0.0034779072739183903, 0.0008269837126135826, -0.0019693823996931314, -0.09887437522411346, 0.002985064871609211, 0.0008318613399751484, -0.0031873704865574837, -0.02691562846302986, 0.006810089107602835, 0.00085270224371925, 0.005700675770640373, -0.002941808197647333, -0.016759375110268593, 0.002322741551324725, 0.0008376258774660528, 0.949683666229248, -1.2108234167099, -0.24343064427375793, 1.0236129760742188, -1.7572983503341675, -0.7789042592048645, -0.31874480843544006, 0.005394292529672384, -0.1579243391752243, -0.2091721147298813, -0.15986613929271698, 0.0032499232329428196, -0.0014078584499657154, -0.12687011063098907, 0.003581794211640954, 0.0008735430892556906, 0.004220875911414623, -0.10371074080467224, 0.006402696017175913, 0.0008580232970416546, -0.002036598278209567, -0.1429465413093567, 0.0035605202428996563, 0.0008646746282465756, 0.006524843629449606, -0.0015785939758643508, -0.16447164118289948, 0.0032102123368531466, 0.0007977177738212049, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0006711165769957006, -9.58738019107841e-05, -0.0001917476038215682, -0.7776324152946472], "max": [1.2588043212890625, -0.5503892302513123, -0.00036911413189955056, 1.5695421695709229, 0.1371121108531952, 0.06379275023937225, 0.6981793642044067, 1.297035813331604, 0.2945418655872345, 0.0021114740520715714, 0.2553565502166748, 0.5511906743049622, 0.486907958984375, 0.05385725945234299, 0.0378364697098732, 0.0409119687974453, 0.2133360058069229, 0.13924475014209747, 0.037757400423288345, 0.027200447395443916, 0.06653974950313568, 0.1720322221517563, 0.006862209644168615, 0.008449423126876354, 0.24081982672214508, 0.08692561835050583, 0.2567306160926819, 0.029787534847855568, 0.017716960981488228, 1.3754419088363647, -0.3273867964744568, -1.1984224101979635e-07, 1.8308805227279663, 0.16829410195350647, -0.17471465468406677, 0.6981483697891235, 1.2957141399383545, 0.2397376000881195, 0.3343256413936615, 0.2591082453727722, 0.3315570652484894, 1.0475529432296753, 0.09298022091388702, 0.5768163800239563, 0.28708750009536743, 1.3073681592941284, 0.19951944053173065, 1.437749981880188, 0.7602232694625854, 1.376807689666748, 0.21105730533599854, 1.531607747077942, 0.9004446268081665, 0.24960845708847046, 1.270240068435669, 0.22948430478572845, 1.3943737745285034, 1.3139737844467163, 0.5627791881561279, -1.106767177581787, 0.5444673299789429, 0.0003834952076431364, 9.58738019107841e-05, 0.16116385161876678, -0.5999782085418701], "mean": [1.1386194229125977, -0.6097244620323181, -0.2223479002714157, 1.1429150104522705, 0.07318580895662308, -0.0854886919260025, 0.4803404211997986, 1.2688442468643188, 0.28523921966552734, -0.16984818875789642, 0.21117118000984192, 0.5308931469917297, 0.43089473247528076, 0.04054402932524681, 0.036670878529548645, 0.036469604820013046, 0.17395657300949097, 0.11089757084846497, 0.029124246910214424, 0.023220596835017204, 0.04284272342920303, 0.13691063225269318, 0.0068343933671712875, 0.006588997319340706, 0.23779147863388062, 0.06592120975255966, 0.23403486609458923, 0.020365266129374504, 0.01532807294279337, 1.2221511602401733, -0.63422030210495, -0.21472375094890594, 1.3135228157043457, -1.3694032430648804, -0.3930957317352295, -0.01094007771462202, 1.1803255081176758, 0.037149734795093536, 0.07058461010456085, -0.030682198703289032, 0.1517936736345291, 0.8495221734046936, 0.04598679021000862, 0.250148206949234, 0.14668135344982147, 1.1743351221084595, -0.0631304606795311, 1.2225865125656128, 0.4869217574596405, 1.27437424659729, -0.10995662957429886, 1.3379292488098145, 0.604764997959137, 0.025997037068009377, 1.1621347665786743, -0.12848462164402008, 0.7472077012062073, 1.2460685968399048, 0.5626929402351379, -1.1068477630615234, 0.5440821051597595, -0.00042027278686873615, -1.2800239801435964e-07, 0.1030598133802414, -0.7259443402290344], "std": [0.05521455034613609, 0.03732623532414436, 0.019885841757059097, 0.07863207906484604, 0.032825909554958344, 0.12105541676282883, 0.05485837906599045, 0.12315209954977036, 0.031044350937008858, 0.03273991867899895, 0.022420154884457588, 0.05751185119152069, 0.07106165587902069, 0.01804525777697563, 0.005222983192652464, 0.005697124637663364, 0.04188929870724678, 0.031159883365035057, 0.007233880925923586, 0.005166563205420971, 0.014622412621974945, 0.029301563277840614, 7.497154001612216e-06, 0.0015283144311979413, 0.02311467006802559, 0.018717600032687187, 0.04006633907556534, 0.005005910526961088, 0.0035308075603097677, 0.11091216653585434, 0.18306013941764832, 0.023493995890021324, 0.19938407838344574, 0.3213215470314026, 0.12580272555351257, 0.17247295379638672, 0.14678099751472473, 0.06966935843229294, 0.10497276484966278, 0.07087921351194382, 0.08713489770889282, 0.18262752890586853, 0.029481347650289536, 0.12387190759181976, 0.074257992208004, 0.23202891647815704, 0.025924358516931534, 0.2736971974372864, 0.13483409583568573, 0.2589454650878906, 0.041601043194532394, 0.29072561860084534, 0.1738714724779129, 0.03375647962093353, 0.23870299756526947, 0.046461936086416245, 0.2472529262304306, 0.26823690533638, 3.9659942558500916e-05, 4.5196495193522424e-05, 6.910166121087968e-05, 0.00017353174916934222, 4.520888523984468e-06, 0.03616394102573395, 0.031792715191841125], "count": [2247]}, "observation.state.joint_torque": {"min": [-34.77450180053711, -6.644999980926514, -18.25, -6.671999931335449, -0.5591999888420105, -0.848800003528595, 1.3567999601364136, -0.6915254592895508, -0.32347598671913147, -0.5592103004455566, -0.3454677164554596, -0.09961536526679993, -0.5545703172683716, -0.6677870750427246, -0.08633331209421158, -0.039242662489414215, -0.22547408938407898, -0.46534016728401184, -0.13116022944450378, -0.0321076326072216, -0.2437039464712143, -0.49604299664497375, -0.0016602561809122562, -0.03781566023826599, -0.13809753954410553, -0.14008179306983948, -0.5094755291938782, -0.11787818372249603, -0.033534638583660126, 11.13599967956543, -9.613499641418457, 3.127000093460083, -8.777999877929688, -1.892799973487854, -2.3696000576019287, -3.135999917984009, -1.1920217275619507, -0.799775242805481, -0.4349413812160492, -0.7630113959312439, -0.4250255823135376, -0.8721529841423035, -0.9719372391700745, -0.16104483604431152, -0.06278826296329498, -1.6176567077636719, -1.2530603408813477, -0.4515896737575531, -0.05850724130868912, -0.7368685603141785, -0.2868798077106476, -0.5379229187965393, -0.06778278201818466, -0.4908180236816406, -1.2770469188690186, -0.41256964206695557, -1.0559228658676147, -0.17052720487117767, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.53350067138672, 13.114500045776367, -10.619000434875488, 3.5820000171661377, 1.544800043106079, 1.7503999471664429, 2.6631999015808105, 0.9831631779670715, 0.24961140751838684, 0.3168858289718628, 0.38150569796562195, 0.10127562284469604, 0.3195016086101532, 0.29263657331466675, 0.08301279693841934, 0.016410568729043007, 0.37515053153038025, 0.3386908769607544, 0.12451920658349991, 0.013556556776165962, 0.3924208879470825, 0.4048939049243927, 0.0033205123618245125, 0.012843053787946701, 0.06377115845680237, 0.18805499374866486, 0.5267458558082581, 0.09961536526679993, 0.014270060695707798, 41.76900100708008, 10.401000022888184, 22.25200080871582, 1.3860000371932983, 0.6335999965667725, 3.602400064468384, 0.6039999723434448, 2.3063580989837646, 4.64455509185791, 2.541300058364868, 1.3557745218276978, 0.7089293599128723, 2.144402503967285, 0.9373965859413147, 1.0575830936431885, 0.21547789871692657, 0.6409220695495605, 0.3972181975841522, 0.42834609746932983, 0.09346889704465866, 0.49892139434814453, 0.44615083932876587, 0.2739422619342804, 0.08847437053918839, 0.13325972855091095, 0.6217328310012817, 1.017991542816162, 0.21583329141139984, 0.06278826296329498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.493709564208984, 1.7894169092178345, -12.88061237335205, -1.746712327003479, 0.04955299571156502, -0.23577210307121277, 1.716183066368103, -0.001958179520443082, -0.0002102680446114391, 0.02477308176457882, 0.011688037775456905, 0.0018523659091442823, 0.0025338190607726574, 0.013110571540892124, 0.00016698554100003093, 0.00037882092874497175, 0.0036525505129247904, 0.007814047858119011, 0.0014903158880770206, -1.1748325050575659e-05, 0.020431021228432655, 0.022210750728845596, 7.388770200122963e-07, -0.0005232990370132029, -0.000698357995133847, 0.012527214363217354, 0.010794439353048801, -0.0009760558605194092, -0.00012098090519430116, 26.782672882080078, 1.0619601011276245, 12.578425407409668, -2.333223819732666, -0.5291544795036316, 1.5056071281433105, -0.9172488451004028, 0.3809622824192047, 1.4383212327957153, 0.37344038486480713, 0.08688148111104965, 0.14625920355319977, 0.9072972536087036, -0.09191009402275085, 0.39185166358947754, 0.09380041807889938, -0.23825998604297638, -0.23610112071037292, 5.24579627381172e-05, -0.0006271338206715882, 0.00035995934740640223, -0.0030782308895140886, -0.0033796229399740696, -0.0023650021757930517, -0.009218219667673111, -0.030019719153642654, 0.010770609602332115, -0.03879323601722717, 0.00014416319027077407, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.0625203847885132, 1.0093917846679688, 0.6661854982376099, 0.7154518961906433, 0.2519703507423401, 0.3397267758846283, 0.1798062026500702, 0.048492103815078735, 0.026325874030590057, 0.0666363313794136, 0.06324871629476547, 0.011243193410336971, 0.06742598116397858, 0.059229057282209396, 0.007310501765459776, 0.00461194571107626, 0.05291171744465828, 0.055296480655670166, 0.0128716379404068, 0.003246486419811845, 0.05623758211731911, 0.07330463826656342, 0.00016050088743213564, 0.0035920138470828533, 0.008226823061704636, 0.03106924332678318, 0.06280846148729324, 0.00716432323679328, 0.0038227473851293325, 4.679910659790039, 2.1835718154907227, 1.9387664794921875, 1.6686739921569824, 0.2920687794685364, 0.7753735780715942, 0.46361979842185974, 0.6329652070999146, 1.5523730516433716, 0.5406840443611145, 0.2768787145614624, 0.17356492578983307, 0.8905619978904724, 0.24015013873577118, 0.41895654797554016, 0.09585962444543839, 0.4193784296512604, 0.2960852384567261, 0.0290005411952734, 0.009332877583801746, 0.07803817093372345, 0.06172452121973038, 0.03088194504380226, 0.010401781648397446, 0.06204564496874809, 0.17315545678138733, 0.13652962446212769, 0.12700077891349792, 0.012680969201028347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2247]}, "observation.state.tcp": {"min": [0.3618161678314209, 0.18168677389621735, 0.9428797364234924, -1.2726751565933228, 1.2183663845062256, -1.590031623840332, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23884040117263794, -0.2965627908706665, 0.9497357606887817, -0.6304401159286499, 1.2062941789627075, 0.39071977138519287, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4284426271915436, 0.22110269963741302, 1.0594561100006104, -0.9483663439750671, 1.6950600147247314, -1.2293182611465454, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4694046676158905, -0.05105595290660858, 1.1255580186843872, 1.2088518142700195, 1.8587490320205688, 1.4484270811080933, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.408275842666626, 0.19657622277736664, 0.9914736747741699, -1.1702340841293335, 1.5745561122894287, -1.5492174625396729, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39198026061058044, -0.153679758310318, 1.0446090698242188, -0.20900984108448029, 1.671757459640503, 0.6846150159835815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01507031824439764, 0.007977128960192204, 0.028590040281414986, 0.048639435321092606, 0.08550194650888443, 0.05100991576910019, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05939960852265358, 0.056965261697769165, 0.04668038338422775, 0.2999540865421295, 0.12764579057693481, 0.16445621848106384, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2247]}, "action": {"min": [1.049555778503418, -0.7797061204910278, -0.22500769793987274, 1.0389659404754639, -0.08037715405225754, -0.7690808773040771, 0.3621600866317749, 0.0, 0.0, -0.2620052397251129, 0.0, 0.0, 0.0, -0.11176756024360657, 0.0, 0.0, 0.0, -0.105830118060112, 0.0, 0.0, 0.0, -0.0946597158908844, 0.0, 0.0, 0.0, 0.0, -0.02316499501466751, 0.0, 0.0, 0.9496867060661316, -1.212654948234558, -0.2433987259864807, 1.02358078956604, -1.7573002576828003, -0.7792723178863525, -0.31877854466438293, 0.0, -0.15514497458934784, -0.21069669723510742, -0.1616094559431076, 0.0, 0.0, -0.14350800216197968, 0.0, 0.0, 0.0, -0.10328875482082367, 0.0, 0.0, 0.0, -0.14340275526046753, 0.0, 0.0, -9.58472057277504e-09, 0.0, -0.1639944314956665, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440664291381836, -0.0007161857793107629, -0.00010247754107695073, -2.2721242203260772e-05, -0.7773570418357849], "max": [1.2591453790664673, -0.550382137298584, -0.0004487448022700846, 1.5692188739776611, 0.1371687650680542, 0.06378954648971558, 0.7052095532417297, 1.3072928190231323, 0.29268157482147217, 0.0, 0.26074862480163574, 0.5549094080924988, 0.48983508348464966, 0.05935332551598549, 0.04688137397170067, 0.04319699481129646, 0.21782898902893066, 0.1372101902961731, 0.041409388184547424, 0.03087388165295124, 0.06552115827798843, 0.18114538490772247, 0.01363068912178278, 0.012884409166872501, 0.26180002093315125, 0.09192243963479996, 0.26302722096443176, 0.03394125774502754, 0.022367550060153008, 1.3754526376724243, -0.3273274600505829, -0.000610974442679435, 1.8310301303863525, 0.1686093658208847, -0.17468111217021942, 0.724635660648346, 1.2992489337921143, 0.25654011964797974, 0.3372957110404968, 0.27125415205955505, 0.3330954611301422, 1.1291590929031372, 0.07882940024137497, 0.5856721997261047, 0.3206559419631958, 1.3227843046188354, 0.20411483943462372, 1.4442474842071533, 0.7610655426979065, 1.3813225030899048, 0.21280691027641296, 1.5357227325439453, 0.9017412662506104, 0.26180002093315125, 1.275410771369934, 0.23385588824748993, 1.3978488445281982, 1.4051671028137207, 0.5626999735832214, -1.106863021850586, 0.5444971919059753, 0.00042266707168892026, 4.4349384552333504e-05, 0.16151216626167297, -0.6000000238418579], "mean": [1.138714075088501, -0.6097583770751953, -0.22236685454845428, 1.143022060394287, 0.07317642867565155, -0.08571529388427734, 0.48041805624961853, 1.2736066579818726, 0.2855314612388611, -0.16688869893550873, 0.21223849058151245, 0.5361394286155701, 0.4313742518424988, 0.0430324450135231, 0.04186883568763733, 0.03933580219745636, 0.17535877227783203, 0.11408340185880661, 0.033383846282958984, 0.026469100266695023, 0.042067576199769974, 0.14238585531711578, 0.009727511554956436, 0.009235876612365246, 0.25818777084350586, 0.06622572988271713, 0.23906883597373962, 0.018750954419374466, 0.018078673630952835, 1.2229857444763184, -0.6352076530456543, -0.2147446870803833, 1.3141636848449707, -1.369197964668274, -0.3933955729007721, -0.010535589419305325, 1.1823148727416992, 0.042558453977108, 0.06970661133527756, -0.030419034883379936, 0.15293695032596588, 0.8645961284637451, 0.04028164967894554, 0.2536774277687073, 0.16591469943523407, 1.1717984676361084, -0.06348603218793869, 1.2214853763580322, 0.48669102787971497, 1.2723147869110107, -0.10998212546110153, 1.3365174531936646, 0.6045297384262085, 0.02766580879688263, 1.1602766513824463, -0.1282048374414444, 0.7447859048843384, 1.283819556236267, 0.562694787979126, -1.1068569421768188, 0.5441322326660156, -0.00045496420352719724, 1.0238751428914838e-06, 0.10310396552085876, -0.7259876132011414], "std": [0.055265042930841446, 0.03735305741429329, 0.019826944917440414, 0.07884678244590759, 0.032848309725522995, 0.12147728353738785, 0.05499747022986412, 0.13563445210456848, 0.03306995704770088, 0.035605158656835556, 0.026286656036973, 0.061950843781232834, 0.07180763781070709, 0.01788349822163582, 0.006488393992185593, 0.005851345136761665, 0.041590891778469086, 0.03019154816865921, 0.007495787460356951, 0.005735297221690416, 0.013692681677639484, 0.03049328736960888, 0.0027386329602450132, 0.0025913906283676624, 0.029069609940052032, 0.018159808591008186, 0.03877541795372963, 0.00452959630638361, 0.004261411726474762, 0.11078719794750214, 0.1842348873615265, 0.023415612056851387, 0.19993236660957336, 0.3232083022594452, 0.12596651911735535, 0.1741037666797638, 0.15379568934440613, 0.07366914302110672, 0.1066087856888771, 0.07152877748012543, 0.0887908935546875, 0.19431698322296143, 0.028348814696073532, 0.12761333584785461, 0.08675117790699005, 0.2327042669057846, 0.026003947481513023, 0.27403631806373596, 0.13487771153450012, 0.2598281800746918, 0.04038873314857483, 0.29156628251075745, 0.17402729392051697, 0.03724106773734093, 0.2395114004611969, 0.04536723345518112, 0.24763993918895721, 0.27952295541763306, 1.1391923180781305e-05, 7.362369160546223e-06, 3.9761027437634766e-05, 0.00018814545182976872, 8.69006817083573e-06, 0.03620114177465439, 0.03184187412261963], "count": [2247]}, "observation.state.tcp_pose": {"min": [0.3618161678314209, 0.18168677389621735, 0.9428797364234924, -1.2726751565933228, 1.2183663845062256, -1.590031623840332, 0.23884040117263794, -0.2965627908706665, 0.9497357606887817, -0.6304401159286499, 1.2062941789627075, 0.39071977138519287], "max": [0.4284426271915436, 0.22110269963741302, 1.0594561100006104, -0.9483663439750671, 1.6950600147247314, -1.2293182611465454, 0.4694046676158905, -0.05105595290660858, 1.1255580186843872, 1.2088518142700195, 1.8587490320205688, 1.4484270811080933], "mean": [0.408275842666626, 0.19657622277736664, 0.9914736747741699, -1.1702340841293335, 1.5745561122894287, -1.5492174625396729, 0.39198026061058044, -0.153679758310318, 1.0446090698242188, -0.20900984108448029, 1.671757459640503, 0.6846150159835815], "std": [0.01507031824439764, 0.007977128960192204, 0.028590040281414986, 0.048639435321092606, 0.08550194650888443, 0.05100991576910019, 0.05939960852265358, 0.056965261697769165, 0.04668038338422775, 0.2999540865421295, 0.12764579057693481, 0.16445621848106384], "count": [2247]}, "action.tcp_pose": {"min": [0.36182737350463867, 0.18169409036636353, 0.9428425431251526, -1.2727267742156982, 1.2182332277297974, -1.5900816917419434, 0.2383725345134735, -0.29948562383651733, 0.9496822953224182, -0.6305091381072998, 1.2005809545516968, 0.3908912241458893], "max": [0.42836371064186096, 0.22108681499958038, 1.059575080871582, -0.9464817643165588, 1.6949985027313232, -1.229341745376587, 0.46942228078842163, -0.051054783165454865, 1.1254353523254395, 1.208710789680481, 1.858882188796997, 1.4626681804656982], "mean": [0.4082873463630676, 0.1965765804052353, 0.9914970993995667, -1.1701669692993164, 1.5743893384933472, -1.5491515398025513, 0.39201852679252625, -0.15398472547531128, 1.0450893640518188, -0.20878936350345612, 1.669878363609314, 0.6847836971282959], "std": [0.01507252175360918, 0.007990139536559582, 0.02866317145526409, 0.048714812844991684, 0.08576874434947968, 0.051064085215330124, 0.059408798813819885, 0.057372938841581345, 0.046857334673404694, 0.30125564336776733, 0.12986934185028076, 0.16588620841503143], "count": [2247]}, "subtask_index": {"min": [54], "max": [1689], "mean": [1620.5135736537607], "std": [253.21620509453183], "count": [2247]}, "observation.tactile": {"min": [-0.017706643790006638, -4.058651757077314e-05, -8.743838407099247e-05, -0.001016869442537427, -9.032846719492227e-05, -0.000327203277265653, -0.001629286794923246, -4.452501525520347e-05, -0.00010200969700235873, -0.00038396651507355273, -1.5340048776124604e-05, -2.9211019864305854e-05, -0.017011089250445366, -5.210201925365254e-05, -0.00011546981113497168, -0.0014540323754772544, -2.948434485006146e-05, -0.000362314167432487, -0.015438733622431755, -3.5123237466905266e-05, -7.5275864219293e-05, -0.0016492420108988881, -2.289159056090284e-05, -0.00037161578075028956, -0.006458517163991928, -4.628825990948826e-05, -0.00010434618161525577, -0.0010520527139306068, -5.376898843678646e-05, -0.00015408493345603347, -1.9242597818374634, -3.7715857615694404e-05, -8.733393042348325e-05, -0.19916655123233795, -0.004044571425765753, -0.032960161566734314, -6.703688144683838, -0.11891503632068634, -0.00010048477997770533, -0.22400835156440735, -0.022153692319989204, -0.1268010437488556, -0.018745681270956993, -4.486074249143712e-05, -9.944346675183624e-05, -0.0016201181570068002, -8.767937833908945e-05, -0.00041260471334680915, -0.021262560039758682, -5.615157715510577e-05, -0.00012533219705801457, -0.002516981912776828, -0.00010907385149039328, -0.0004275657411199063, -0.07298684120178223, -4.387983790365979e-05, -9.73373680608347e-05, -0.0009061698219738901, -9.545443026581779e-05, -0.0009151056874543428], "max": [0.009379063732922077, 0.019372055307030678, 0.06068366765975952, 1.6371719766539172e-06, 0.0002940433332696557, 0.00010000644397223368, 0.00040208754944615066, 0.007965420372784138, 0.023000052198767662, 1.7733054846758023e-06, 7.330109656322747e-05, 6.50045194561244e-06, 0.004655469208955765, 0.024703340604901314, 0.0721316859126091, 2.1640778413711814e-06, 0.00013513158774003386, 3.7368219636846334e-05, 0.0017766235396265984, 0.026614317670464516, 0.0773516595363617, 1.380968683406536e-06, 0.0001517805503681302, 5.7349611779500265e-06, 0.0025076325982809067, 0.01710030995309353, 0.049475062638521194, 1.9491089915391058e-06, 0.00014246457430999726, 7.5687839853344485e-06, 4.746674060821533, 5.9666361808776855, 13.197677612304688, 1.6234273516602116e-06, 0.040803227573633194, 0.07792053371667862, 0.0003223528037779033, 9.483966827392578, 12.25937271118164, 1.90017829027056e-06, 0.01386320311576128, 6.7763439801638015e-06, 0.004591782111674547, 0.02610134519636631, 0.07564797252416611, 1.80780159553251e-06, 0.00022186830756254494, 5.025617065257393e-05, 0.06808412820100784, 0.04652605578303337, 0.15557454526424408, 2.274085318276775e-06, 0.0008787245023995638, 0.0008607766358181834, 0.005554338917136192, 0.014429166913032532, 0.04037419334053993, 1.7578657889316673e-06, 0.00013238807150628418, 9.95630252873525e-05], "mean": [-0.0013641354162245989, 0.0029119737446308136, 0.009177823550999165, -0.00014868821017444134, 1.2181076272099745e-05, -2.4351129468414e-05, 0.0002242850314360112, 0.0002574673271737993, 0.000808144744951278, -1.3494567610905506e-05, 8.404169307141274e-07, 3.8872794902999885e-06, 0.0001580060925334692, 0.0005507548921741545, 0.0016602390678599477, -2.6731904654297978e-05, 1.1849218850557008e-07, 3.6249639379093423e-06, -0.0010398388840258121, 0.0021938986610621214, 0.006629908923059702, -0.00014229657244868577, 1.2528427760116756e-05, -2.623935324663762e-05, 0.0001351609971607104, 0.0009835081873461604, 0.00284047843888402, -5.173535464564338e-05, 7.5828384069609456e-06, 2.772123934846604e-07, 1.157165288925171, 2.068082571029663, 4.543886184692383, -0.076588936150074, 0.007775700185447931, 0.01620444469153881, -2.269886016845703, 1.124163031578064, 4.668995380401611, -0.06909377872943878, -0.003739813342690468, -0.03271273896098137, -0.0011639002477750182, 0.0031465059146285057, 0.009361383505165577, -0.00019299461564514786, 8.349060408363584e-06, -2.6669216822483577e-05, -0.002449851715937257, 0.007020463235676289, 0.020936589688062668, -0.0004278358828742057, 2.8269196263863705e-05, -6.018816930009052e-05, -0.0003170501731801778, 0.0016897401073947549, 0.004907294642180204, -0.00010683947766665369, 3.345245204400271e-06, -8.7350936155417e-06], "std": [0.002304044319316745, 0.0032686942722648382, 0.010283001698553562, 0.00016711150237824768, 2.7718280762201175e-05, 3.925008786609396e-05, 0.00016326643526554108, 0.0006531350663863122, 0.0019589655566960573, 3.2902902603382245e-05, 5.700953352061333e-06, 4.134825758228544e-06, 0.0007047877297736704, 0.0014484032290056348, 0.004255229141563177, 7.674895459786057e-05, 1.0643295354384463e-05, 1.4230024135031272e-05, 0.002390292240306735, 0.004425302613526583, 0.013323202729225159, 0.00029483577236533165, 2.7384165150579065e-05, 5.8975791034754366e-05, 0.0005920500261709094, 0.002420336240902543, 0.0068791876547038555, 0.0001289307401748374, 2.2312549845082685e-05, 1.614256325410679e-05, 1.3392728567123413, 1.9939754009246826, 4.04216194152832, 0.06767906993627548, 0.010708807036280632, 0.022771183401346207, 2.0650079250335693, 1.3756740093231201, 4.325253963470459, 0.06864806264638901, 0.006487802602350712, 0.0315653420984745, 0.002070334041491151, 0.004139881581068039, 0.012253016233444214, 0.00026062317192554474, 2.9185586754465476e-05, 4.319655636209063e-05, 0.003748204791918397, 0.00601251469925046, 0.017939461395144463, 0.00036668952088803053, 4.580783934216015e-05, 6.990926340222359e-05, 0.0018520164303481579, 0.0022950083948671818, 0.006608606316149235, 0.00014544861915055662, 2.040568142547272e-05, 2.7326304916641675e-05], "count": [2247]}, "timestamp": {"min": [0.0], "max": [74.86666666666666], "mean": [37.43333333333333], "std": [21.62176543996213], "count": [2247]}, "frame_index": {"min": [0], "max": [2246], "mean": [1123.0], "std": [648.6529631988639], "count": [2247]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [2247]}, "index": {"min": [79820], "max": [82066], "mean": [80943.0], "std": [648.6529631988639], "count": [2247]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2247]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5581017732620239]], [[0.5589262843132019]], [[0.5601772665977478]]], "std": [[[0.30155763030052185]], [[0.30048707127571106]], [[0.30114492774009705]]], "count": [2247]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2997502088546753]], [[0.30507892370224]], [[0.30389952659606934]]], "std": [[[0.18025049567222595]], [[0.1812705099582672]], [[0.1826043277978897]]], "count": [2247]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3100266754627228]], [[0.3141716718673706]], [[0.31158941984176636]]], "std": [[[0.18492339551448822]], [[0.18463890254497528]], [[0.184547558426857]]], "count": [2247]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5649360418319702]], [[0.5653935074806213]], [[0.5660961270332336]]], "std": [[[0.3089738190174103]], [[0.30826863646507263]], [[0.3091784715652466]]], "count": [2247]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5843137502670288]], [[0.5843137502670288]], [[0.5843137502670288]]], "mean": [[[0.0036854229401797056]], [[0.0036854229401797056]], [[0.0036854229401797056]]], "std": [[[0.03709540516138077]], [[0.03709540516138077]], [[0.03709540516138077]]], "count": [2247]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49283847212791443]], [[0.49283847212791443]], [[0.49283847212791443]]], "std": [[[0.2225959300994873]], [[0.2225959300994873]], [[0.2225959300994873]]], "count": [2247]}}}
+{"episode_index": 31, "stats": {"observation.state": {"min": [1.0503015518188477, -0.7790026664733887, -0.22492435574531555, 1.0113970041275024, 0.0006558966706506908, -0.7677469253540039, 0.3290403187274933, 0.006875844206660986, -0.00021554790146183223, 0.005780037026852369, -0.12697747349739075, 0.003507335903123021, 0.0036635221913456917, -0.0822339728474617, 0.0034800346475094557, 0.000839399523101747, -0.0018153254641219974, -0.08813917636871338, 0.0030219394247978926, 0.0008420600206591189, -0.0032486948184669018, -0.026922250166535378, 0.002721624681726098, 0.0008212191751226783, 0.00554654560983181, -0.002917275996878743, -0.016665173694491386, 0.0022986310068517923, 0.0008717693854123354, 0.9064886569976807, -1.1382358074188232, -0.2431580126285553, 0.9697213768959045, -1.8113712072372437, -0.81114661693573, -0.3529943823814392, 0.00557515025138855, -0.11565444618463516, -0.27391964197158813, -0.18990331888198853, 0.00324921403080225, 0.005327979102730751, -0.12703397870063782, 0.0035555565264075994, 0.0008540325216017663, 0.0035580371040850878, -0.13065481185913086, 0.006409433204680681, 0.0008810812723822892, -0.0016529277199879289, -0.1537712663412094, 0.003533218987286091, 0.0008872891776263714, 0.006502366624772549, -0.0018538393778726459, -0.16421329975128174, 0.003241413738578558, 0.0008730996632948518, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0014381069922819734, -9.58738019107841e-05, -0.008245146833360195, -0.772359311580658], "max": [1.2569841146469116, -0.560843288898468, -0.00159510038793087, 1.5679410696029663, 0.1964356005191803, 0.06449729949235916, 0.6625685691833496, 1.1012259721755981, 0.27217257022857666, 0.3646475076675415, 0.27325671911239624, 0.20123428106307983, 0.6279474496841431, 0.10713264346122742, 0.049255166202783585, 0.05002076178789139, 0.4829216003417969, 0.19555538892745972, 0.06952162086963654, 0.04546104371547699, 0.18093319237232208, 0.20383694767951965, 0.026105046272277832, 0.0224057137966156, 0.2406250238418579, 0.30312103033065796, 0.25494030117988586, 0.06143687665462494, 0.040798451751470566, 1.3722201585769653, -0.31938493251800537, -0.0021425397135317326, 1.8131552934646606, 0.087912917137146, -0.1619531363248825, 0.6612171530723572, 1.4275619983673096, 0.27121368050575256, 0.29933592677116394, 0.1735643893480301, 0.6305928826332092, 1.2527050971984863, 0.08894897997379303, 0.6458958387374878, 0.4280143976211548, 1.4595502614974976, 0.22135214507579803, 1.3474371433258057, 0.6108731031417847, 1.428224802017212, 0.23981522023677826, 1.4601171016693115, 0.7292044758796692, 0.15678036212921143, 1.2846238613128662, 0.25148603320121765, 1.127083659172058, 1.3121246099472046, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.00047936898772604764, 0.0, 0.1432354599237442, -0.5650801658630371], "mean": [1.1283278465270996, -0.6367310285568237, -0.22262854874134064, 1.1272976398468018, 0.09494274109601974, -0.05938641354441643, 0.44707024097442627, 1.0583868026733398, 0.24135629832744598, 0.31966978311538696, -0.07879427820444107, 0.18450415134429932, 0.5977063179016113, 0.09146948158740997, 0.04810625687241554, 0.04458925873041153, 0.39953115582466125, 0.16633804142475128, 0.05275775492191315, 0.0406888909637928, 0.13379314541816711, 0.1696711778640747, 0.019032852724194527, 0.0178412776440382, 0.0978059396147728, 0.21590590476989746, 0.20140498876571655, 0.03421957045793533, 0.03140561655163765, 1.200524926185608, -0.6335816979408264, -0.21666234731674194, 1.3092900514602661, -1.380679965019226, -0.4102766811847687, 0.0024676721077412367, 1.208897352218628, 0.050755519419908524, 0.02843504212796688, -0.037143561989068985, 0.15877187252044678, 0.8681856393814087, 0.0342811681330204, 0.21096117794513702, 0.16383104026317596, 1.201330304145813, -0.07104207575321198, 1.137986421585083, 0.34996819496154785, 1.267887830734253, -0.11824402958154678, 1.2954421043395996, 0.46820080280303955, 0.0236642025411129, 1.177483081817627, -0.1359790563583374, 0.5277470946311951, 1.1714606285095215, 0.562703013420105, -1.1068649291992188, 0.5440589189529419, -0.0006538655725307763, -5.584204245678848e-07, 0.07525717467069626, -0.7085353136062622], "std": [0.04598718881607056, 0.035489413887262344, 0.018155952915549278, 0.058985430747270584, 0.023351553827524185, 0.09804597496986389, 0.06321148574352264, 0.09979138523340225, 0.0336221307516098, 0.03537419065833092, 0.05359913408756256, 0.02120102196931839, 0.08412665128707886, 0.02254539541900158, 0.006099522113800049, 0.005849258508533239, 0.1003754511475563, 0.03611407056450844, 0.011252586729824543, 0.008499592542648315, 0.05537182465195656, 0.034100595861673355, 0.007379309739917517, 0.006555864587426186, 0.03599901497364044, 0.08860492706298828, 0.02996365912258625, 0.01276053674519062, 0.010450582019984722, 0.12744928896427155, 0.1899057924747467, 0.025207577273249626, 0.19244243204593658, 0.3292750120162964, 0.14091679453849792, 0.22368267178535461, 0.1395532786846161, 0.06955421715974808, 0.12441416829824448, 0.0674377977848053, 0.12264351546764374, 0.17235122621059418, 0.03253135830163956, 0.13409878313541412, 0.09922904521226883, 0.20007218420505524, 0.03232492133975029, 0.2378212958574295, 0.09042436629533768, 0.22834713757038116, 0.04692672938108444, 0.2570827901363373, 0.13088779151439667, 0.01935877650976181, 0.21710163354873657, 0.05137882009148598, 0.20648260414600372, 0.2602401375770569, 3.268853106419556e-05, 4.486209218157455e-05, 8.091227937256917e-05, 0.00041195409721694887, 7.2956336225615814e-06, 0.04216611757874489, 0.057042624801397324], "count": [2747]}, "observation.state.joint_torque": {"min": [-40.34550094604492, -5.843999862670898, -20.054000854492188, -5.8480000495910645, -0.376800000667572, -0.8047999739646912, 0.9624000191688538, -0.8392546772956848, -0.4495552182197571, -0.5716372132301331, -0.48340627551078796, -0.09629485011100769, -0.6169354915618896, -0.5910300016403198, -0.09961536526679993, -0.04066966846585274, -0.5401783585548401, -0.28016355633735657, -0.1494230479001999, -0.03068062849342823, -0.39625871181488037, -0.49412405490875244, -0.09463459998369217, -0.033534638583660126, -0.11522789299488068, -0.3674747943878174, -0.5305837392807007, -0.12617947161197662, -0.03139413148164749, 12.055500030517578, -6.4079999923706055, 4.369999885559082, -7.940999984741211, -1.823199987411499, -1.2519999742507935, -2.955199956893921, -1.5753535032272339, -0.7322783470153809, -0.6735377311706543, -0.9307745099067688, -0.21583329141139984, -0.7301522493362427, -1.01319420337677, -0.2025512456893921, -0.07277730107307434, -1.5034804344177246, -1.0918703079223633, -0.1411217600107193, -0.03139413148164749, -0.4384751617908478, -0.40393444895744324, -0.15606407821178436, -0.044950686395168304, -0.15480999648571014, -0.3981776833534241, -0.46821853518486023, -0.13780125975608826, -0.09846341609954834, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.989500045776367, 7.963500022888184, -8.881999969482422, 1.8259999752044678, 1.5687999725341797, 0.9423999786376953, 2.8336000442504883, 0.27635547518730164, 0.2814495861530304, 0.3057016432285309, 0.6536547541618347, 0.0979551151394844, 0.3319746255874634, 0.2485012263059616, 0.08467306196689606, 0.019978083670139313, 0.4307994544506073, 0.4116101562976837, 0.11953844130039215, 0.01712406985461712, 0.4029749929904938, 0.3214205205440521, 0.12119869887828827, 0.016410568729043007, 0.06597016006708145, 0.24754177033901215, 0.4615022838115692, 0.10957689583301544, 0.014983562752604485, 39.33300018310547, 10.831500053405762, 20.78499984741211, 1.722000002861023, 0.46160000562667847, 3.5992000102996826, 0.4927999973297119, 2.380222797393799, 5.010056972503662, 2.7289462089538574, 1.3321630954742432, 0.7504357695579529, 2.145362138748169, 0.8203418850898743, 1.0575830936431885, 0.21333740651607513, 0.5190701484680176, 0.21204160153865814, 0.3370319902896881, 0.06635577231645584, 0.5305837392807007, 0.2715283930301666, 0.34865376353263855, 0.09061487764120102, 0.12798210978507996, 0.4806915819644928, 0.3972181975841522, 0.20919226109981537, 0.05565322935581207, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.26470947265625, 2.28369402885437, -12.69735050201416, -1.6248304843902588, -0.027237853035330772, -0.2581939995288849, 1.6747344732284546, -0.0062396773137152195, 0.0009990748949348927, -0.004420673940330744, -0.03565492853522301, 0.0005354906315915287, 0.015054895542562008, 0.013907119631767273, 0.00013840416795574129, 0.00016831040557008237, 0.025120366364717484, -0.0030034317169338465, -0.0005342795047909021, 0.0004786992503795773, 0.031490474939346313, 0.026317009702324867, 0.00201624259352684, -0.0001953237078851089, -0.004403918981552124, 0.015263427048921585, -0.0013405048521235585, -0.000740980904083699, 0.0005519454134628177, 26.516191482543945, 1.3506766557693481, 12.481276512145996, -2.4018139839172363, -0.5220316052436829, 1.5622586011886597, -0.9127666354179382, 0.29830941557884216, 1.2836835384368896, 0.4019995331764221, 0.16396889090538025, 0.1184348315000534, 0.7306317090988159, -0.08807050436735153, 0.3506987988948822, 0.08272495865821838, -0.09762226790189743, -0.1410004198551178, 0.0008932850905694067, 0.00021817992092110217, -0.0052688405849039555, -0.01576039381325245, 0.0016457487363368273, -0.0015070040244609118, -0.0015883740270510316, 0.01602100022137165, -0.006863633170723915, -0.017207572236657143, 0.00493945088237524, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.0806421041488647, 0.9611803889274597, 0.5309193134307861, 0.6635466814041138, 0.20031048357486725, 0.3398810625076294, 0.17506201565265656, 0.04042959213256836, 0.040098484605550766, 0.057800158858299255, 0.06937185674905777, 0.009356828406453133, 0.06750831753015518, 0.05841227248311043, 0.0065791974775493145, 0.004405979532748461, 0.07151798158884048, 0.048228468745946884, 0.016072047874331474, 0.004201018251478672, 0.06130484491586685, 0.06767433881759644, 0.011151464655995369, 0.004914438351988792, 0.013887065462768078, 0.040012188255786896, 0.059639137238264084, 0.010208035819232464, 0.004840995650738478, 4.636269569396973, 2.4252917766571045, 1.6309934854507446, 1.7082959413528442, 0.3429952561855316, 0.664156973361969, 0.5005275011062622, 0.6610630750656128, 1.4841917753219604, 0.6184079051017761, 0.3422185182571411, 0.15444396436214447, 0.8314586877822876, 0.2999851107597351, 0.4105508327484131, 0.09128688275814056, 0.26508066058158875, 0.20828725397586823, 0.028878280892968178, 0.008299962617456913, 0.07612723112106323, 0.058835469186306, 0.02814503386616707, 0.009785624220967293, 0.01941557787358761, 0.10849815607070923, 0.08143124729394913, 0.03094198741018772, 0.011594309471547604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2747]}, "observation.state.tcp": {"min": [0.3620523512363434, 0.19119684398174286, 0.944614589214325, -1.3246339559555054, 1.2196937799453735, -1.5765103101730347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2395307719707489, -0.2780260145664215, 0.9352250695228577, -0.6443322896957397, 1.2194653749465942, 0.39171314239501953, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4321647584438324, 0.2404867559671402, 1.051500916481018, -1.0792293548583984, 1.7430025339126587, -1.2292903661727905, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47235527634620667, -0.047901805490255356, 1.1235533952713013, 1.2083488702774048, 1.8910713195800781, 1.518842101097107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4077000319957733, 0.21655957400798798, 0.9831256866455078, -1.232012152671814, 1.5884143114089966, -1.5126323699951172, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3854769766330719, -0.15411631762981415, 1.0369824171066284, -0.2128991186618805, 1.6596013307571411, 0.695244550704956, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.014198766089975834, 0.010195905342698097, 0.022396685555577278, 0.05007189139723778, 0.07326018065214157, 0.04943867772817612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06452901661396027, 0.06472624838352203, 0.050911907106637955, 0.2957616448402405, 0.10808821022510529, 0.1937958300113678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2747]}, "action": {"min": [1.0500909090042114, -0.7781473994255066, -0.22491994500160217, 1.0113896131515503, 0.00019841516041196883, -0.763038694858551, 0.329045832157135, 0.0, 0.0, 0.0, -0.13167724013328552, 0.0, 0.0, -0.08274105191230774, 0.0, 0.0, 0.0, -0.09495972841978073, 0.0, 0.0, 0.0, -0.06541959196329117, 0.0, 0.0, 0.0, 0.0, -0.021290522068738937, 0.0, 0.0, 0.9064909815788269, -1.1390074491500854, -0.24310553073883057, 0.9696398377418518, -1.8113811016082764, -0.8116900324821472, -0.3530699908733368, 0.0, -0.11423687636852264, -0.27393412590026855, -0.19068759679794312, 0.0, 0.0, -0.12819568812847137, 0.0, 0.0, 0.0, -0.134083092212677, 0.0, 0.0, 0.0, -0.16018898785114288, 0.0, 0.0, -9.890253060973464e-09, 0.0, -0.1660628765821457, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5439879298210144, -0.001449172617867589, -0.00010125010157935321, -0.008890788070857525, -0.7724415063858032], "max": [1.2573453187942505, -0.5608295798301697, -0.002845412353053689, 1.564637541770935, 0.1969742625951767, 0.06451816856861115, 0.6625763177871704, 1.1061267852783203, 0.2770521640777588, 0.36679962277412415, 0.272530734539032, 0.20550715923309326, 0.637281060218811, 0.10748729854822159, 0.05447788164019585, 0.05096578970551491, 0.4895986020565033, 0.19465090334415436, 0.07362155616283417, 0.04832453280687332, 0.18986822664737701, 0.20441122353076935, 0.030094217509031296, 0.02737060748040676, 0.26180002093315125, 0.3113834857940674, 0.2578602135181427, 0.06621290743350983, 0.04508610814809799, 1.3722220659255981, -0.31926074624061584, -0.004707617219537497, 1.8132346868515015, 0.08811099827289581, -0.1619153767824173, 0.6612401008605957, 1.4394603967666626, 0.2820086181163788, 0.31366196274757385, 0.1802058070898056, 0.6342391967773438, 1.272568941116333, 0.08942140638828278, 0.6511307954788208, 0.4907835125923157, 1.4962741136550903, 0.22465451061725616, 1.3521770238876343, 0.6128383874893188, 1.458981990814209, 0.24756675958633423, 1.4634562730789185, 0.7300758361816406, 0.17192243039608002, 1.2873977422714233, 0.2581062316894531, 1.1296961307525635, 1.3263849020004272, 0.5626999735832214, -1.106863021850586, 0.5442861318588257, 0.0004224530712235719, 6.877282430650666e-05, 0.14390969276428223, -0.5648117065429688], "mean": [1.1283806562423706, -0.6367373466491699, -0.22263593971729279, 1.1273205280303955, 0.09493479877710342, -0.05948421359062195, 0.4471380114555359, 1.0598326921463013, 0.2486245036125183, 0.3224479556083679, -0.08235838264226913, 0.19070224463939667, 0.6009630560874939, 0.0928531214594841, 0.05209622159600258, 0.048818591982126236, 0.4044222831726074, 0.1666329950094223, 0.055267129093408585, 0.043546609580516815, 0.1367337852716446, 0.17277918756008148, 0.023189568892121315, 0.02133035473525524, 0.09643905609846115, 0.22067390382289886, 0.2027338147163391, 0.037423714995384216, 0.03486369922757149, 1.201298475265503, -0.6343422532081604, -0.21668173372745514, 1.3099266290664673, -1.3812402486801147, -0.41073301434516907, 0.0025220641400665045, 1.2094396352767944, 0.05502903088927269, 0.030528010800480843, -0.03474065288901329, 0.1590571105480194, 0.8797468543052673, 0.031199565157294273, 0.21451573073863983, 0.1827920824289322, 1.199828028678894, -0.07141085714101791, 1.1376616954803467, 0.34976261854171753, 1.2661103010177612, -0.1182958111166954, 1.294478178024292, 0.46796950697898865, 0.018236007541418076, 1.177098035812378, -0.1365172415971756, 0.5254964232444763, 1.1725267171859741, 0.5627037286758423, -1.1068708896636963, 0.5441181063652039, -0.0006904187030158937, 5.309445327839057e-07, 0.07529984414577484, -0.7085787653923035], "std": [0.046031247824430466, 0.03549489751458168, 0.018171781674027443, 0.0590948686003685, 0.023395216092467308, 0.09830691665410995, 0.06324505805969238, 0.113485187292099, 0.0353093296289444, 0.040706902742385864, 0.05230284482240677, 0.02288810908794403, 0.086094431579113, 0.022032445296645164, 0.006869610399007797, 0.00638487096875906, 0.10052601993083954, 0.034250322729349136, 0.011537080630660057, 0.00888892263174057, 0.05597576126456261, 0.03309348225593567, 0.008446509018540382, 0.007671912666410208, 0.04195764288306236, 0.08952762931585312, 0.029255742207169533, 0.012084216810762882, 0.010796026326715946, 0.12759006023406982, 0.19067154824733734, 0.025213731452822685, 0.19307802617549896, 0.32948240637779236, 0.1412987858057022, 0.22398415207862854, 0.1505214124917984, 0.0735817477107048, 0.12269949167966843, 0.06617676466703415, 0.12398179620504379, 0.18595974147319794, 0.030337493866682053, 0.1347363144159317, 0.12191980332136154, 0.20068611204624176, 0.03219795599579811, 0.2378157675266266, 0.09053393453359604, 0.22833892703056335, 0.04631778225302696, 0.25738394260406494, 0.13108517229557037, 0.02345157600939274, 0.21707333624362946, 0.05125415325164795, 0.20593462884426117, 0.26091375946998596, 2.0295514332246967e-05, 8.248366611951496e-06, 5.962656723568216e-05, 0.00042912180651910603, 1.2260398762009572e-05, 0.0421735942363739, 0.05707811936736107], "count": [2747]}, "observation.state.tcp_pose": {"min": [0.3620523512363434, 0.19119684398174286, 0.944614589214325, -1.3246339559555054, 1.2196937799453735, -1.5765103101730347, 0.2395307719707489, -0.2780260145664215, 0.9352250695228577, -0.6443322896957397, 1.2194653749465942, 0.39171314239501953], "max": [0.4321647584438324, 0.2404867559671402, 1.051500916481018, -1.0792293548583984, 1.7430025339126587, -1.2292903661727905, 0.47235527634620667, -0.047901805490255356, 1.1235533952713013, 1.2083488702774048, 1.8910713195800781, 1.518842101097107], "mean": [0.4077000319957733, 0.21655957400798798, 0.9831256866455078, -1.232012152671814, 1.5884143114089966, -1.5126323699951172, 0.3854769766330719, -0.15411631762981415, 1.0369824171066284, -0.2128991186618805, 1.6596013307571411, 0.695244550704956], "std": [0.014198766089975834, 0.010195905342698097, 0.022396685555577278, 0.05007189139723778, 0.07326018065214157, 0.04943867772817612, 0.06452901661396027, 0.06472624838352203, 0.050911907106637955, 0.2957616448402405, 0.10808821022510529, 0.1937958300113678], "count": [2747]}, "action.tcp_pose": {"min": [0.3622519075870514, 0.19117935001850128, 0.9446185827255249, -1.3246259689331055, 1.2208547592163086, -1.5765573978424072, 0.23958222568035126, -0.2777818739414215, 0.9352109432220459, -0.6443644762039185, 1.2213294506072998, 0.39139920473098755], "max": [0.43220019340515137, 0.24050810933113098, 1.0511137247085571, -1.0795724391937256, 1.7429670095443726, -1.2318001985549927, 0.4724330008029938, -0.047868989408016205, 1.12346613407135, 1.2062314748764038, 1.8911782503128052, 1.5187082290649414], "mean": [0.40771812200546265, 0.21656368672847748, 0.9831233620643616, -1.2319903373718262, 1.5883029699325562, -1.5126272439956665, 0.38550230860710144, -0.15430650115013123, 1.0374139547348022, -0.21350911259651184, 1.658177375793457, 0.6949455738067627], "std": [0.014215131290256977, 0.010211271233856678, 0.022446202114224434, 0.050104789435863495, 0.07342980802059174, 0.04945753514766693, 0.0646015927195549, 0.06492334604263306, 0.05114283412694931, 0.2959096133708954, 0.11018231511116028, 0.19335134327411652], "count": [2747]}, "subtask_index": {"min": [54], "max": [1746], "mean": [1681.7105933745904], "std": [247.83961995495173], "count": [2747]}, "observation.tactile": {"min": [-0.015934932976961136, -4.438776522874832e-05, -9.78174721240066e-05, -0.0013493363512679935, -0.00010053738515125588, -0.0002842316753230989, -0.004176485352218151, -5.285361112328246e-05, -0.00012161258200649172, -0.0005049465107731521, -6.6386210164637305e-06, -9.418604167876765e-05, -0.016053637489676476, -5.102928844280541e-05, -0.00011283429194008932, -0.0014573225053027272, -5.286754822009243e-05, -0.0003508203662931919, -0.010386835783720016, -3.288766311015934e-05, -7.345333142438903e-05, -0.0008795764879323542, -3.888353967340663e-05, -0.00022945205273572356, -0.010771391913294792, -4.944722604705021e-05, -0.00011173529492225498, -0.0006084089982323349, -0.00011601947335293517, -0.00021793511405121535, -3.1143476963043213, -1.0971437692642212, -9.973258420359343e-05, -0.2206139713525772, -0.021551886573433876, -0.06288910657167435, -7.513009071350098, -0.24058449268341064, -0.00010862048657145351, -0.21174708008766174, -0.021755902096629143, -0.13159042596817017, -1.4677929878234863, -4.8052799684228376e-05, -0.00010553261381573975, -0.005570343229919672, -0.002819081535562873, -0.018262723460793495, -0.02094130590558052, -5.479387255036272e-05, -0.0001237253163708374, -0.0017786117969080806, -8.900670945877209e-05, -0.0004344583721831441, -0.11762095987796783, -4.318369610700756e-05, -9.565299842506647e-05, -0.0011602204758673906, -0.00017864395340438932, -0.0015027225017547607], "max": [0.007283230312168598, 0.02522115781903267, 0.07713400572538376, 1.827335267989838e-06, 0.00021770286548417062, 7.144773553591222e-05, 0.003971134312450886, 0.009572906419634819, 0.02918907068669796, 2.122440264429315e-06, 0.00017232768004760146, 1.3885914086131379e-05, 0.0003931631799787283, 0.023992352187633514, 0.06988383084535599, 2.1137966541573405e-06, 9.886611223919317e-05, 8.256666660599876e-06, 0.0015300970990210772, 0.015505834482610226, 0.04685238003730774, 1.3549658888223348e-06, 0.00010834122804226354, 1.0003499482991174e-05, 0.0027155480347573757, 0.014849565923213959, 0.042481087148189545, 2.1050275336165214e-06, 0.0001431817072443664, 1.3199420209275559e-05, 5.686903476715088, 6.328527450561523, 12.910199165344238, 1.8521246829550364e-06, 0.033150382339954376, 0.09348640590906143, 0.017101529985666275, 7.623902320861816, 16.20626449584961, 2.061249688267708e-06, 0.022759072482585907, 0.005254734773188829, 0.0025960851926356554, 0.5030642151832581, 0.33598047494888306, 0.00013062189100310206, 0.0022365287877619267, 7.759231266390998e-06, 0.06692340224981308, 0.030204210430383682, 0.08783097565174103, 2.2540614281751914e-06, 0.0002602968888822943, 0.0010107978014275432, 0.0009056286653503776, 0.021415214985609055, 0.060941752046346664, 1.7694079588181921e-06, 0.00023040776432026178, 7.17542889105971e-06], "mean": [-0.0012415985111147165, 0.0028585668187588453, 0.008640280924737453, -0.0001231069618370384, 1.7177916333821486e-06, -1.6702109860489145e-05, 0.0002410730958217755, 0.00013855937868356705, 0.00043537007877603173, -8.299702130898368e-06, 3.6781020185117086e-07, 3.974384526372887e-06, -0.001177975325845182, 0.002405130071565509, 0.007105231750756502, -0.00013082478835713118, 1.8607145193527685e-06, -2.191753992519807e-05, 0.00015910413640085608, 0.00010669524635886773, 0.000328747380990535, -4.966723281540908e-06, -9.344230420538224e-07, 3.4455263175914297e-06, 0.00021045847097411752, 0.0003087165532633662, 0.0009296090574935079, -1.362183229502989e-05, -8.230422281485517e-07, 5.127368240209762e-06, 1.0897811651229858, 1.5701578855514526, 3.9687092304229736, -0.06572511792182922, 0.004629122093319893, 0.016770558431744576, -1.9404500722885132, 1.090198040008545, 4.169824123382568, -0.059292759746313095, -0.002122187055647373, -0.027802713215351105, -0.013957369141280651, 0.005513139069080353, 0.009234237484633923, -0.00016940556815825403, 1.0477647265361156e-05, -0.0001872084103524685, -0.0017592574004083872, 0.005575945135205984, 0.01635166071355343, -0.0003308281593490392, 1.3242795830592513e-05, -4.061053550685756e-05, -0.0012054797261953354, 0.0033306677360087633, 0.009733370505273342, -0.0001917425834108144, -5.986422365822364e-06, -2.1472722437465563e-05], "std": [0.0020313537679612637, 0.0035333975683897734, 0.010615299455821514, 0.00015766164870001376, 1.8548716980149038e-05, 3.153615762130357e-05, 0.0003957255103159696, 0.0006596780731342733, 0.0019294379744678736, 3.547812229953706e-05, 9.725006748340093e-06, 9.417807632416952e-06, 0.0024500559084117413, 0.004063228610903025, 0.011927470564842224, 0.00022606007405556738, 1.2592788152687717e-05, 4.886536771664396e-05, 0.0003939142043236643, 0.00080872856779024, 0.0023380552884191275, 3.6227771488483995e-05, 4.729308329842752e-06, 7.463471320079407e-06, 0.0005601821467280388, 0.0012111957184970379, 0.0035247388295829296, 5.4920819820836186e-05, 1.1748697943403386e-05, 8.860823982104193e-06, 1.495065450668335, 1.918336272239685, 4.090872764587402, 0.0684475377202034, 0.007653975859284401, 0.024073267355561256, 2.072051525115967, 1.3136374950408936, 4.404647350311279, 0.061072174459695816, 0.006863933056592941, 0.030819371342658997, 0.11564641445875168, 0.030873699113726616, 0.023882795125246048, 0.0003974333230871707, 0.0002017434744630009, 0.0014556667301803827, 0.0033537838608026505, 0.007038001902401447, 0.020559702068567276, 0.00041670160135254264, 2.8372060114634223e-05, 6.654075696133077e-05, 0.0028831292875111103, 0.00374170346185565, 0.010905956849455833, 0.00021347137226257473, 1.7512147678644396e-05, 4.185321449767798e-05], "count": [2747]}, "timestamp": {"min": [0.0], "max": [91.53333333333333], "mean": [45.766666666666666], "std": [26.433018072941355], "count": [2747]}, "frame_index": {"min": [0], "max": [2746], "mean": [1373.0], "std": [792.9905421882407], "count": [2747]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [2747]}, "index": {"min": [82067], "max": [84813], "mean": [83440.0], "std": [792.9905421882407], "count": [2747]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2747]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5557479858398438]], [[0.5563414692878723]], [[0.5574246048927307]]], "std": [[[0.2990730106830597]], [[0.2982396185398102]], [[0.29901188611984253]]], "count": [2747]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3003864586353302]], [[0.30560293793678284]], [[0.30407294631004333]]], "std": [[[0.18089427053928375]], [[0.18172352015972137]], [[0.18298916518688202]]], "count": [2747]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30983707308769226]], [[0.3131445050239563]], [[0.3110458552837372]]], "std": [[[0.18472060561180115]], [[0.1839432716369629]], [[0.18419048190116882]]], "count": [2747]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5621520280838013]], [[0.562421977519989]], [[0.5629801750183105]]], "std": [[[0.305509090423584]], [[0.305054634809494]], [[0.30599305033683777]]], "count": [2747]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.572549045085907]], [[0.572549045085907]], [[0.572549045085907]]], "mean": [[[0.0032126556616276503]], [[0.0032126556616276503]], [[0.0032126556616276503]]], "std": [[[0.03405585512518883]], [[0.03405585512518883]], [[0.03405585512518883]]], "count": [2747]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49270230531692505]], [[0.49270230531692505]], [[0.49270230531692505]]], "std": [[[0.22256527841091156]], [[0.22256527841091156]], [[0.22256527841091156]]], "count": [2747]}}}
+{"episode_index": 32, "stats": {"observation.state": {"min": [1.0500998497009277, -0.8367444276809692, -0.22493024170398712, 1.1587806940078735, -0.021002592518925667, -0.7699567675590515, 0.35551729798316956, 0.006912702228873968, -0.00021500569710042328, -0.2506733536720276, 0.005562033038586378, 0.0035147815942764282, 0.006917369551956654, -0.05021164193749428, 0.0034740068949759007, 0.0008247665828093886, -0.0015145698562264442, -0.05252913013100624, 0.0068466090597212315, 0.0008380693034268916, -0.0032462424132972956, -0.026903852820396423, 0.0027163063641637564, 0.0008039256790652871, 0.005681409500539303, -0.0027352531906217337, -0.026004038751125336, 0.002309622475877404, 0.0008611272787675261, 0.936397135257721, -1.1042197942733765, -0.24241390824317932, 1.0691473484039307, -1.7597497701644897, -0.7692126035690308, -0.35514891147613525, 0.005530703812837601, -0.19618436694145203, -0.2525204122066498, -0.11222139745950699, 0.0032672968227416277, 0.00031326612224802375, -0.18671941757202148, 0.0037690033204853535, 0.0008336350438185036, -0.0017105760052800179, -0.09905271977186203, 0.0034520241897553205, 0.0008730996632948518, -0.0017819644417613745, -0.141283318400383, 0.0035580385010689497, 0.0008500416879542172, 0.006524843629449606, -0.0033218003809452057, -0.16410955786705017, 0.0032212035730481148, 0.0008615707047283649, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0009587379754520953, -9.58738019107841e-05, -9.58738019107841e-05, -0.7436930537223816], "max": [1.2675853967666626, -0.6050682067871094, -9.227853297488764e-05, 1.5699445009231567, 0.20611800253391266, -0.08397166430950165, 0.6487959623336792, 1.3274099826812744, 0.2942964732646942, 0.001899720635265112, 0.25797146558761597, 0.5697804093360901, 0.5902654528617859, 0.11621000617742538, 0.04927714914083481, 0.045460157096385956, 0.4775266647338867, 0.21538463234901428, 0.057856861501932144, 0.04544641450047493, 0.18271319568157196, 0.22360658645629883, 0.022401992231607437, 0.02237378992140293, 0.2261282205581665, 0.23790815472602844, 0.2176150381565094, 0.034372035413980484, 0.03157614544034004, 1.3698945045471191, -0.2897487282752991, -0.0004099803336430341, 1.7949720621109009, 0.09772177040576935, -0.21783965826034546, 0.6981398463249207, 1.3816845417022705, 0.2776523232460022, 0.34172412753105164, 0.2054726779460907, 0.5571462512016296, 1.1392529010772705, 0.0982757955789566, 0.7453045845031738, 0.5086508393287659, 1.450518012046814, 0.21311818063259125, 1.4202661514282227, 0.7835184931755066, 1.4367095232009888, 0.22231031954288483, 1.514330506324768, 0.9108438491821289, 0.17196431756019592, 1.2705498933792114, 0.22928735613822937, 1.3693286180496216, 1.3081936836242676, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.0, 9.58738019107841e-05, 0.1330728381872177, -0.5998823642730713], "mean": [1.1649253368377686, -0.679154634475708, -0.22248846292495728, 1.2582571506500244, 0.12445931136608124, -0.22788935899734497, 0.42986372113227844, 1.2891478538513184, 0.2854190766811371, -0.16391251981258392, 0.20337632298469543, 0.5536523461341858, 0.5308284759521484, 0.10566376149654388, 0.04201989620923996, 0.0426962748169899, 0.41542014479637146, 0.19411635398864746, 0.055989932268857956, 0.03996168076992035, 0.13785384595394135, 0.19985537230968475, 0.01907818578183651, 0.01842384599149227, 0.07163433730602264, 0.1862226277589798, 0.19976282119750977, 0.02823524922132492, 0.02680657058954239, 1.22434663772583, -0.6248531937599182, -0.21745529770851135, 1.3287034034729004, -1.4437922239303589, -0.42193156480789185, -0.061963874846696854, 1.2180707454681396, -0.011355026625096798, 0.0983106940984726, 0.03720935061573982, 0.137223020195961, 0.8712900876998901, 0.038707468658685684, 0.2523651123046875, 0.21886959671974182, 1.1778004169464111, -0.06365454941987991, 1.2200897932052612, 0.52495938539505, 1.2623568773269653, -0.1081940084695816, 1.3345937728881836, 0.6477348804473877, 0.024617277085781097, 1.1597821712493896, -0.12680567800998688, 0.8345829844474792, 1.243098497390747, 0.5626935362815857, -1.1068567037582397, 0.5440577268600464, -0.000697880401276052, 2.0626893615371955e-07, 0.10638850927352905, -0.7177282571792603], "std": [0.060027290135622025, 0.044401027262210846, 0.019764369353652, 0.07741063833236694, 0.023659126833081245, 0.11097924411296844, 0.04452543333172798, 0.12002713233232498, 0.028055265545845032, 0.031221715733408928, 0.021757034584879875, 0.05566208064556122, 0.07770311832427979, 0.019206169992685318, 0.006009978242218494, 0.005734724458307028, 0.07426905632019043, 0.03326190263032913, 0.008506218902766705, 0.006546152289956808, 0.03507204353809357, 0.035363536328077316, 0.0038815434090793133, 0.003952112048864365, 0.02016432210803032, 0.04853029549121857, 0.03269759565591812, 0.006818859837949276, 0.005733316298574209, 0.10975368320941925, 0.16471152007579803, 0.02242513932287693, 0.19001606106758118, 0.32596850395202637, 0.11351918429136276, 0.18435002863407135, 0.144016295671463, 0.10352901369333267, 0.15553195774555206, 0.07678209990262985, 0.131755530834198, 0.1958969533443451, 0.028985582292079926, 0.16881927847862244, 0.10997682064771652, 0.21664611995220184, 0.03385138884186745, 0.27926215529441833, 0.15083162486553192, 0.2438962608575821, 0.047491978853940964, 0.29688504338264465, 0.1889742612838745, 0.017497550696134567, 0.22277987003326416, 0.050837717950344086, 0.2563149929046631, 0.2678883969783783, 2.3087261070031673e-05, 3.363578434800729e-05, 6.52286980766803e-05, 0.000143766199471429, 7.699668458371889e-06, 0.019815022125840187, 0.019683683291077614], "count": [2324]}, "observation.state.joint_torque": {"min": [-32.358001708984375, -7.5269999504089355, -17.136999130249023, -7.875999927520752, -0.397599995136261, -1.2319999933242798, 1.1512000560760498, -0.6265755295753479, -0.278902530670166, -0.3330407738685608, -0.29700279235839844, -0.0879935771226883, -0.49604299664497375, -0.38666412234306335, -0.0796922892332077, -0.04066966846585274, -0.2744067907333374, -0.3617180287837982, -0.12783971428871155, -0.033534638583660126, -0.2840014100074768, -0.5123538970947266, -0.07637178897857666, -0.0321076326072216, -0.12578311562538147, -0.2014874815940857, -0.4020155072212219, -0.061429474502801895, -0.03139413148164749, 13.570500373840332, -7.454999923706055, 4.4029998779296875, -8.034000396728516, -2.0216000080108643, -1.3495999574661255, -3.285599946975708, -1.8873677253723145, -0.7539283037185669, -1.0016077756881714, -0.8462715744972229, -0.0979551151394844, -0.7675713896751404, -1.01319420337677, -0.1776474118232727, -0.06492877006530762, -1.3058308362960815, -1.0755594968795776, -0.2473781555891037, -0.039956167340278625, -0.5037187337875366, -0.378028929233551, -0.24903841316699982, -0.046377696096897125, -0.13325972855091095, -0.4144885241985321, -0.46821853518486023, -0.45491015911102295, -0.04994520545005798, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.733999252319336, 14.956500053405762, -11.586000442504883, 3.2330000400543213, 1.753600001335144, 1.325600028038025, 2.5592000484466553, 0.19739675521850586, 0.12353215366601944, 0.3417396545410156, 0.3554092347621918, 0.0979551151394844, 0.4528671205043793, 0.3482855260372162, 0.09961536526679993, 0.020691584795713425, 0.4499887228012085, 0.3214205205440521, 0.12285894900560379, 0.020691584795713425, 0.3665153384208679, 0.3905019462108612, 0.08965382725000381, 0.015697065740823746, 0.064650759100914, 0.28016358613967896, 0.4682185649871826, 0.07637178897857666, 0.014270060695707798, 35.84700012207031, 11.102999687194824, 19.39299964904785, 1.1399999856948853, 0.5496000051498413, 3.228800058364868, 0.6456000208854675, 2.4222490787506104, 4.281599521636963, 2.6208322048187256, 1.3408620357513428, 0.6474998593330383, 2.145362138748169, 0.6073408126831055, 1.0575830936431885, 0.21476440131664276, 0.5603271126747131, 0.23794713616371155, 0.46487167477607727, 0.07349080592393875, 0.6946521401405334, 0.23986607789993286, 0.5960319638252258, 0.09632289409637451, 0.1262229084968567, 0.6226922869682312, 0.4634212255477905, 0.44494864344596863, 0.08062583953142166, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.794633865356445, 1.9845237731933594, -13.524109840393066, -1.9659043550491333, 0.36993566155433655, -0.22468028962612152, 1.686842918395996, -0.0016927385004237294, -0.003228207118809223, 0.02128719910979271, 0.009787541814148426, 0.003003327874466777, 0.0073334574699401855, 0.0055003780871629715, 0.0004200651601422578, 0.00021214695880189538, 0.00928746908903122, 0.0024085675831884146, 0.001283055986277759, 8.227990474551916e-05, 0.026290353387594223, 0.02195459045469761, 0.001537382835522294, 5.219276499701664e-05, -0.0018282770179212093, 0.013114556670188904, 0.010976027697324753, 0.0008022664696909487, 0.0003656545595731586, 26.928295135498047, 0.9369334578514099, 12.80536937713623, -2.3816893100738525, -0.5867124795913696, 1.6115429401397705, -0.8280701637268066, 0.317006379365921, 1.1847437620162964, 0.41071817278862, 0.09482015669345856, 0.1290043592453003, 0.8035973906517029, -0.14104941487312317, 0.3373481035232544, 0.09823095053434372, -0.14650721848011017, -0.19432862102985382, -0.0015216615283861756, -0.0005160923465155065, -0.00994845386594534, -0.010649473406374454, -5.2150113333482295e-05, -0.0027008107863366604, 2.3469538064091466e-05, -0.004751079250127077, 0.0012674471363425255, -0.0189007930457592, 0.003065547440201044, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6981073617935181, 0.9555864334106445, 0.683588445186615, 0.6508474349975586, 0.19472922384738922, 0.32935118675231934, 0.17477066814899445, 0.03442869707942009, 0.020276566967368126, 0.05388498678803444, 0.05280912667512894, 0.010524892248213291, 0.06000083312392235, 0.04363742470741272, 0.007453315891325474, 0.004346081055700779, 0.05002480745315552, 0.04371165111660957, 0.013156373053789139, 0.003485828172415495, 0.04758550226688385, 0.05848155915737152, 0.009005574509501457, 0.0034426418133080006, 0.011999189853668213, 0.02899683639407158, 0.04725457355380058, 0.007035762537270784, 0.0037119430489838123, 4.154634952545166, 1.998445749282837, 1.6331325769424438, 1.8150982856750488, 0.32271525263786316, 0.6905455589294434, 0.47438186407089233, 0.6824524998664856, 1.3162531852722168, 0.5738772749900818, 0.2878827452659607, 0.1518813669681549, 0.8410689234733582, 0.2910812199115753, 0.34945565462112427, 0.09544067829847336, 0.2761804163455963, 0.2604333758354187, 0.027845168486237526, 0.008835434913635254, 0.07140225917100906, 0.05507640540599823, 0.028310485184192657, 0.00964687392115593, 0.018863100558519363, 0.12562711536884308, 0.09031654894351959, 0.04789578914642334, 0.006125444080680609, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2324]}, "observation.state.tcp": {"min": [0.3617829382419586, 0.18835708498954773, 0.9556812644004822, -1.3533962965011597, 1.217860221862793, -1.5237321853637695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23977811634540558, -0.27305489778518677, 0.9529003500938416, -0.6495802402496338, 1.2181007862091064, 0.4035041332244873, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.40933215618133545, 0.24794462323188782, 1.064976692199707, -1.0369997024536133, 1.6617329120635986, -1.2289539575576782, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4548285901546478, -0.033899977803230286, 1.1210014820098877, 1.2085585594177246, 1.8239195346832275, 1.5311990976333618, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39913231134414673, 0.20757727324962616, 1.002687931060791, -1.2667255401611328, 1.5414661169052124, -1.432274580001831, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3899340331554413, -0.14600464701652527, 1.0476676225662231, -0.24621213972568512, 1.630371332168579, 0.6517348289489746, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008502131327986717, 0.010033799335360527, 0.03098517470061779, 0.04367441684007645, 0.07818493992090225, 0.05174601450562477, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.058529410511255264, 0.053540170192718506, 0.04575264826416969, 0.2876809537410736, 0.11625365167856216, 0.18390321731567383, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2324]}, "action": {"min": [1.0499999523162842, -0.8367823362350464, -0.22491994500160217, 1.158795952796936, -0.02036054991185665, -0.7699999809265137, 0.3555392026901245, 0.0, 0.0, -0.25518178939819336, 0.0, 0.0, 0.0, -0.058103349059820175, 0.0, 0.0, 0.0, -0.05864629149436951, 0.0, 0.0, 0.0, -0.06302343308925629, 0.0, 0.0, 0.0, 0.0, -0.04734128341078758, 0.0, 0.0, 0.9364059567451477, -1.1042299270629883, -0.2423783540725708, 1.0690467357635498, -1.7597492933273315, -0.7673216462135315, -0.3551620543003082, 0.0, -0.1971462517976761, -0.254074364900589, -0.11419874429702759, 0.0, 0.0, -0.19995766878128052, 0.0, 0.0, 0.0, -0.10299547761678696, 0.0, 0.0, -0.00450269365683198, -0.14323128759860992, 0.0, 0.0, -9.907163089906135e-09, 0.0, -0.16249573230743408, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440457463264465, -0.0009602202917449176, -1.3105027392157353e-05, 2.940261825686783e-19, -0.744405210018158], "max": [1.2677463293075562, -0.6050707101821899, 7.846954582394466e-18, 1.5700000524520874, 0.20627564191818237, -0.08396107703447342, 0.6487069725990295, 1.3357466459274292, 0.2925069332122803, 0.0, 0.264203816652298, 0.5751829743385315, 0.5981293320655823, 0.11544080078601837, 0.0530300997197628, 0.04930975288152695, 0.48292800784111023, 0.21518537402153015, 0.06406328082084656, 0.04760689660906792, 0.1881803721189499, 0.2266850769519806, 0.02912912890315056, 0.02657965011894703, 0.252118319272995, 0.24319696426391602, 0.22215516865253448, 0.04095179960131645, 0.03685958683490753, 1.3698941469192505, -0.289740651845932, -0.00289138057269156, 1.79496431350708, 0.09760155528783798, -0.2178182303905487, 0.7745057344436646, 1.3826547861099243, 0.29096266627311707, 0.34677615761756897, 0.22173050045967102, 0.561625599861145, 1.1974657773971558, 0.101585753262043, 0.7525210380554199, 0.5565451979637146, 1.4680312871932983, 0.21607279777526855, 1.4247939586639404, 0.786049485206604, 1.462558388710022, 0.22312167286872864, 1.5187253952026367, 0.9124166369438171, 0.1896086037158966, 1.2775132656097412, 0.23216426372528076, 1.3753952980041504, 1.3948785066604614, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -7.672581323472644e-22, 1.1531886229931843e-05, 0.13362784683704376, -0.6000000238418579], "mean": [1.165024995803833, -0.6791917681694031, -0.22249457240104675, 1.258341670036316, 0.12449542433023453, -0.2280149757862091, 0.4298938512802124, 1.2956315279006958, 0.2869594395160675, -0.16197076439857483, 0.2054784595966339, 0.5589082837104797, 0.5326942205429077, 0.10669612884521484, 0.048622723668813705, 0.04555751755833626, 0.4197785258293152, 0.1984071284532547, 0.0548466257750988, 0.04396148771047592, 0.13938699662685394, 0.2044132500886917, 0.023868000134825706, 0.02187357470393181, 0.08692125976085663, 0.1897871345281601, 0.20437030494213104, 0.03294120728969574, 0.030559932813048363, 1.2252602577209473, -0.6257693767547607, -0.21746264398097992, 1.3295058012008667, -1.4436712265014648, -0.4222874343395233, -0.06117125600576401, 1.2182354927062988, -0.007863020524382591, 0.09829789400100708, 0.03740885853767395, 0.13769188523292542, 0.8807861804962158, 0.03382390737533569, 0.25398534536361694, 0.2402258962392807, 1.1762030124664307, -0.06368573009967804, 1.218826174736023, 0.5246845483779907, 1.260435938835144, -0.10813979059457779, 1.3335363864898682, 0.6474186778068542, 0.023206504061818123, 1.1585592031478882, -0.12666350603103638, 0.8324597477912903, 1.2892991304397583, 0.5626963973045349, -1.106859564781189, 0.5440924167633057, -0.0007434866274707019, 9.087175385502633e-07, 0.1064307764172554, -0.7177767157554626], "std": [0.06006510183215141, 0.04442204162478447, 0.01984556019306183, 0.0775642991065979, 0.02366677112877369, 0.1112673208117485, 0.04453688859939575, 0.13804008066654205, 0.03232739493250847, 0.03261415287852287, 0.026525583118200302, 0.06342153251171112, 0.07935746759176254, 0.018190575763583183, 0.0067448969930410385, 0.006165788974612951, 0.07425865530967712, 0.03201854228973389, 0.008443751372396946, 0.006835238542407751, 0.035922154784202576, 0.034675609320402145, 0.005111325532197952, 0.004669941496104002, 0.023149700835347176, 0.04990324750542641, 0.03207870572805405, 0.007687750738114119, 0.006930801086127758, 0.1097535714507103, 0.16535638272762299, 0.02246570587158203, 0.19047753512859344, 0.3274943232536316, 0.11396455764770508, 0.18785589933395386, 0.15327180922031403, 0.10521965473890305, 0.15515242516994476, 0.07715959846973419, 0.1327366828918457, 0.201759472489357, 0.026256728917360306, 0.1690102368593216, 0.13255389034748077, 0.21629130840301514, 0.03525694087147713, 0.2791873514652252, 0.15096774697303772, 0.2449142336845398, 0.04815041646361351, 0.29727962613105774, 0.18927009403705597, 0.02107245847582817, 0.2232327163219452, 0.05163219943642616, 0.2571445107460022, 0.2804354429244995, 1.2987928130314685e-05, 5.19093191542197e-06, 2.3754035282763653e-05, 0.0001368568919133395, 6.960754944884684e-06, 0.01987810805439949, 0.01976286806166172], "count": [2324]}, "observation.state.tcp_pose": {"min": [0.3617829382419586, 0.18835708498954773, 0.9556812644004822, -1.3533962965011597, 1.217860221862793, -1.5237321853637695, 0.23977811634540558, -0.27305489778518677, 0.9529003500938416, -0.6495802402496338, 1.2181007862091064, 0.4035041332244873], "max": [0.40933215618133545, 0.24794462323188782, 1.064976692199707, -1.0369997024536133, 1.6617329120635986, -1.2289539575576782, 0.4548285901546478, -0.033899977803230286, 1.1210014820098877, 1.2085585594177246, 1.8239195346832275, 1.5311990976333618], "mean": [0.39913231134414673, 0.20757727324962616, 1.002687931060791, -1.2667255401611328, 1.5414661169052124, -1.432274580001831, 0.3899340331554413, -0.14600464701652527, 1.0476676225662231, -0.24621213972568512, 1.630371332168579, 0.6517348289489746], "std": [0.008502131327986717, 0.010033799335360527, 0.03098517470061779, 0.04367441684007645, 0.07818493992090225, 0.05174601450562477, 0.058529410511255264, 0.053540170192718506, 0.04575264826416969, 0.2876809537410736, 0.11625365167856216, 0.18390321731567383], "count": [2324]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.1883496791124344, 0.9556502103805542, -1.3534221649169922, 1.2178406715393066, -1.5237599611282349, 0.23902924358844757, -0.2754741609096527, 0.9528876543045044, -0.6494296193122864, 1.2192127704620361, 0.40324538946151733], "max": [0.4093469977378845, 0.24793292582035065, 1.0649505853652954, -1.0369632244110107, 1.6616617441177368, -1.2289543151855469, 0.4548356831073761, -0.033764373511075974, 1.1208668947219849, 1.20656418800354, 1.8240035772323608, 1.569032907485962], "mean": [0.3991481363773346, 0.20758280158042908, 1.0027152299880981, -1.2667373418807983, 1.5413310527801514, -1.4322750568389893, 0.38997116684913635, -0.1462593972682953, 1.0482105016708374, -0.24654218554496765, 1.6281980276107788, 0.6520019173622131], "std": [0.008492641150951385, 0.010044030845165253, 0.031043879687786102, 0.043657492846250534, 0.07844322174787521, 0.051739342510700226, 0.05851947143673897, 0.05379227548837662, 0.04596153274178505, 0.287323921918869, 0.11938166618347168, 0.1859564185142517], "count": [2324]}, "subtask_index": {"min": [54], "max": [1800], "mean": [1720.4186746987953], "std": [302.6272307715216], "count": [2324]}, "observation.tactile": {"min": [-0.02670985832810402, -3.83267761208117e-05, -8.243825141107664e-05, -0.0018326562130823731, -7.337486749747768e-05, -0.0005233534029684961, -0.002466179197654128, -4.686335887527093e-05, -0.00010808719525812194, -0.000413662230130285, -3.40048354701139e-05, -5.1065020670648664e-05, -0.016278725117444992, -4.673010698752478e-05, -0.00010249826300423592, -0.0011591281509026885, -9.290054003940895e-05, -0.0003260033263359219, -0.015278716571629047, -3.278939766460098e-05, -7.065593672450632e-05, -0.0013977355556562543, -1.8428161638439633e-05, -0.0003260090888943523, -0.011021263897418976, -4.742012970382348e-05, -0.00010733312228694558, -0.0010739797726273537, -1.4685013411508407e-05, -0.00025463628116995096, -2.803757667541504, -3.930208185920492e-05, -9.128628153121099e-05, -0.20808343589305878, -0.017708173021674156, -0.06032038480043411, -9.297141075134277, -4.833118509850465e-05, -0.00010911127901636064, -0.29682251811027527, -0.0334627665579319, -0.1506335437297821, -0.01633271388709545, -4.702880687545985e-05, -0.00010379485320299864, -0.0016012350097298622, -6.817998655606061e-05, -0.0003595844900701195, -0.02077455259859562, -5.794877506559715e-05, -0.00013047528045717627, -0.0028402574826031923, -7.265234307851642e-05, -0.00046764384023845196, -0.2619894742965698, -4.309129872126505e-05, -9.621469507692382e-05, -0.001401299494318664, -0.00037565978709608316, -0.003960579168051481], "max": [0.000824523507617414, 0.029885675758123398, 0.08970817178487778, 1.5565398143735365e-06, 0.0001827106170821935, 6.316438430076232e-06, 0.00213278504088521, 0.007009932771325111, 0.020440466701984406, 1.8566399830888258e-06, 0.00012478053395170718, 6.843745723017491e-06, 0.0014325540978461504, 0.01864602603018284, 0.05758802965283394, 1.922765932249604e-06, 8.115698437904939e-05, 1.2586634511535522e-05, 0.012483605183660984, 0.026639172807335854, 0.07603088021278381, 1.2959362720721401e-06, 0.00023162472643889487, 0.0001520344812888652, 0.019335323944687843, 0.019720466807484627, 0.059610117226839066, 2.036601699728635e-06, 0.0002832150203175843, 0.0002500691916793585, 6.255420684814453, 7.938774108886719, 11.50881290435791, 1.6709740293663344e-06, 0.02861526422202587, 0.09126493334770203, 0.0014409937430173159, 12.933852195739746, 20.002655029296875, 2.059206053672824e-06, 0.0070229172706604, 0.0020816042087972164, 0.018801864236593246, 0.024995094165205956, 0.07575708627700806, 1.9110414086753735e-06, 0.00018008436018135399, 0.0002631388488225639, 0.2295602262020111, 0.06385403126478195, 0.18641896545886993, 2.3853824586694827e-06, 0.0009855842217803001, 0.0032543186098337173, 0.012065804563462734, 0.04330768436193466, 0.08766541630029678, 1.8038315374724334e-06, 0.00023789005354046822, 0.00019909821276087314], "mean": [-0.0024664858356118202, 0.0036523768212646246, 0.011327607557177544, -0.0002046376175712794, 5.247210538072977e-06, -4.4891272409586236e-05, 0.00017853312601801008, 0.00020390225108712912, 0.0006231676088646054, -1.1550829185580369e-05, -1.557935433993407e-07, 3.128394382656552e-06, -0.002621521707624197, 0.005184170790016651, 0.015499717555940151, -0.0002898748207371682, -1.6182162653421983e-05, -4.331538002588786e-05, -0.00171396613586694, 0.003975710831582546, 0.011563312262296677, -0.00020553309877868742, 2.6280815291102044e-05, -4.0187096601584926e-05, 0.0003068714577239007, 0.0028725266456604004, 0.008359827101230621, -0.00012668852286878973, 2.6713323677540757e-05, -2.2872247882332886e-06, 0.833166241645813, 1.9802323579788208, 4.20889139175415, -0.07236748933792114, 0.0023911218158900738, 0.013927336782217026, -3.0555858612060547, 1.8596152067184448, 6.0137715339660645, -0.09798046946525574, -0.006362875457853079, -0.04749615117907524, -0.0007997157517820597, 0.0033611885737627745, 0.010018251836299896, -0.00019946142856497318, 1.0839225978998002e-05, -2.066865454253275e-05, -0.0015306498389691114, 0.005012270528823137, 0.014826119877398014, -0.0003145419468637556, 5.1786341828119475e-06, -3.672524690045975e-05, -0.0012720685917884111, 0.005473307333886623, 0.01578701287508011, -0.00032712676329538226, 8.535490451322403e-06, -2.8041571567882784e-05], "std": [0.0040190983563661575, 0.005363697186112404, 0.016523223370313644, 0.00031819610740058124, 2.3012789824861102e-05, 7.882728095864877e-05, 0.0003599268093239516, 0.0006965553620830178, 0.002029525116086006, 3.782251587836072e-05, 6.084607775846962e-06, 7.803398148098495e-06, 0.0022631697356700897, 0.004056253936141729, 0.012107483111321926, 0.00022942754731047899, 1.6195366697502322e-05, 3.951990220230073e-05, 0.002548870863392949, 0.004714351613074541, 0.0136062977835536, 0.00025623998953960836, 3.1802548619452864e-05, 5.4376665502786636e-05, 0.0021076821722090244, 0.0035505476407706738, 0.010457071475684643, 0.00016767049964983016, 4.849422839470208e-05, 2.6759573302115314e-05, 1.288230538368225, 1.9325960874557495, 3.800468921661377, 0.06556820869445801, 0.007073518354445696, 0.021755818277597427, 2.931710720062256, 2.1315462589263916, 5.540182590484619, 0.08893456310033798, 0.008190417662262917, 0.046101804822683334, 0.0022724554874002934, 0.00442073680460453, 0.01317234430462122, 0.0002794381871353835, 2.5757406547199935e-05, 4.528351200860925e-05, 0.007019957061856985, 0.005904420744627714, 0.017421595752239227, 0.00036749712307937443, 4.1614301153458655e-05, 0.00010662857675924897, 0.005849248263984919, 0.005113421473652124, 0.014521961100399494, 0.0003068384830839932, 2.3562059141113423e-05, 8.972400246420875e-05], "count": [2324]}, "timestamp": {"min": [0.0], "max": [77.43333333333334], "mean": [38.71666666666666], "std": [22.362698356365176], "count": [2324]}, "frame_index": {"min": [0], "max": [2323], "mean": [1161.5], "std": [670.8809506909553], "count": [2324]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [2324]}, "index": {"min": [84814], "max": [87137], "mean": [85975.5], "std": [670.8809506909553], "count": [2324]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2324]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5610217452049255]], [[0.5617719888687134]], [[0.5630096197128296]]], "std": [[[0.30267301201820374]], [[0.3016515374183655]], [[0.30229225754737854]]], "count": [2324]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2999979555606842]], [[0.30438733100891113]], [[0.3029599189758301]]], "std": [[[0.18002139031887054]], [[0.18085400760173798]], [[0.1819084733724594]]], "count": [2324]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3106982409954071]], [[0.3141995668411255]], [[0.3111009895801544]]], "std": [[[0.18505020439624786]], [[0.18414101004600525]], [[0.18356585502624512]]], "count": [2324]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5659611225128174]], [[0.5663008093833923]], [[0.5669927597045898]]], "std": [[[0.309048593044281]], [[0.3084191083908081]], [[0.3092986047267914]]], "count": [2324]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6274510025978088]], [[0.6274510025978088]], [[0.6274510025978088]]], "mean": [[[0.00372200645506382]], [[0.00372200645506382]], [[0.00372200645506382]]], "std": [[[0.03749072924256325]], [[0.03749072924256325]], [[0.03749072924256325]]], "count": [2324]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4925708770751953]], [[0.4925708770751953]], [[0.4925708770751953]]], "std": [[[0.2225695103406906]], [[0.2225695103406906]], [[0.2225695103406906]]], "count": [2324]}}}
+{"episode_index": 33, "stats": {"observation.state": {"min": [1.0511491298675537, -0.7789121866226196, -0.22626478970050812, 1.0799899101257324, -0.02338445745408535, -0.7677289843559265, 0.2938694953918457, 0.006894996389746666, -0.00022078747861087322, -0.21329544484615326, 0.005486839916557074, 0.0035296734422445297, 0.0036718628834933043, -0.06099565699696541, 0.0034779072739183903, 0.0008269837126135826, -0.003266112646088004, -0.030760928988456726, 0.006873910780996084, 0.0008456074283458292, -0.0028299447149038315, -0.011294020339846611, 0.0027907644398510456, 0.000823879730887711, 0.005536912474781275, -0.0025927263777703047, 0.004501024726778269, 0.0022833850234746933, 0.0008416165946982801, 0.9878146648406982, -1.109554409980774, -0.2426648586988449, 0.9915239810943604, -1.7011821269989014, -0.7666882872581482, -0.3803863525390625, 0.00563007639721036, -0.17453217506408691, -0.2084859013557434, -0.14766189455986023, 0.00325807835906744, 0.005360605660825968, -0.12314895540475845, 0.003547046799212694, 0.0008203323232010007, 0.003547488711774349, -0.08596201986074448, 0.0034350052010267973, 0.000881524698343128, -0.0016499828780069947, -0.13036219775676727, 0.0035587477032095194, 0.0008318613399751484, 0.006195176858454943, -0.002109709195792675, -0.1519831269979477, 0.00319886626675725, 0.0008566930191591382, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0009587379754520953, -9.58738019107841e-05, 0.0, -0.792972207069397], "max": [1.2805978059768677, -0.586917519569397, -0.002115215640515089, 1.5677568912506104, 0.16536612808704376, 0.03906869515776634, 0.5611494779586792, 1.3392125368118286, 0.2993369698524475, 0.0018232015427201986, 0.2761314809322357, 0.5401219129562378, 0.6921893358230591, 0.10350149869918823, 0.049261193722486496, 0.05004071816802025, 0.602441132068634, 0.1712857484817505, 0.08315527439117432, 0.04999992251396179, 0.2560974657535553, 0.1841956377029419, 0.03208864852786064, 0.031656403094530106, 0.2409033179283142, 0.33131423592567444, 0.2285229116678238, 0.09957898408174515, 0.04563575237989426, 1.5206129550933838, -0.22442099452018738, -0.002625623717904091, 1.826955795288086, 0.06689270585775375, -0.10189203917980194, 0.6955946683883667, 1.353675365447998, 0.2854754626750946, 0.26322418451309204, 0.23290613293647766, 0.41009414196014404, 1.1727588176727295, 0.1042717769742012, 0.4423437714576721, 0.48596224188804626, 1.4495503902435303, 0.2384287267923355, 1.4551175832748413, 0.9389235377311707, 1.449473261833191, 0.23996953666210175, 1.5491944551467896, 1.0815287828445435, 0.24198545515537262, 1.258877158164978, 0.26238808035850525, 1.370413899421692, 1.308313012123108, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.00047936898772604764, 0.0, 0.1534939557313919, -0.5999782085418701], "mean": [1.1989729404449463, -0.6368507742881775, -0.22352932393550873, 1.152574062347412, 0.11096206307411194, -0.07850633561611176, 0.39331966638565063, 1.2804559469223022, 0.2906966507434845, -0.0586375817656517, 0.12861241400241852, 0.5119885206222534, 0.6268627643585205, 0.08980148285627365, 0.048026975244283676, 0.04763137549161911, 0.49139851331710815, 0.1504426896572113, 0.05999433249235153, 0.043475158512592316, 0.16187456250190735, 0.1516469568014145, 0.021378731355071068, 0.019884418696165085, 0.10568477213382721, 0.22897793352603912, 0.17746946215629578, 0.03924720734357834, 0.033592648804187775, 1.2524389028549194, -0.6075335144996643, -0.21842606365680695, 1.2921781539916992, -1.3545169830322266, -0.3422776460647583, -0.024931922554969788, 1.2188891172409058, 0.03314542770385742, 0.05196388438344002, -0.024047888815402985, 0.1463874876499176, 0.9313568472862244, 0.053776971995830536, 0.1320599764585495, 0.2080223113298416, 1.1702250242233276, -0.04406343027949333, 1.259163498878479, 0.6636562347412109, 1.265123724937439, -0.08827518671751022, 1.402969241142273, 0.7714714407920837, 0.03430711105465889, 1.1489348411560059, -0.10592866688966751, 0.8834549188613892, 1.2453114986419678, 0.5626947283744812, -1.1068581342697144, 0.5440894365310669, -0.00036487611941993237, -3.8457201867458934e-08, 0.11533624678850174, -0.7203402519226074], "std": [0.047409962862730026, 0.03528537228703499, 0.020216723904013634, 0.06415099650621414, 0.04215579107403755, 0.10368862748146057, 0.060976531356573105, 0.12808148562908173, 0.029744258150458336, 0.03234630823135376, 0.019288351759314537, 0.05511809512972832, 0.09034797549247742, 0.020507073029875755, 0.0061953323893249035, 0.006400578655302525, 0.1588580161333084, 0.032078154385089874, 0.014297476038336754, 0.009884241968393326, 0.09521316736936569, 0.03652319312095642, 0.010372638702392578, 0.010942760854959488, 0.06771877408027649, 0.1166573017835617, 0.028782067820429802, 0.018554413691163063, 0.01372491754591465, 0.11313989013433456, 0.19325530529022217, 0.025274140760302544, 0.20549774169921875, 0.31641316413879395, 0.11605381965637207, 0.18211619555950165, 0.14743827283382416, 0.07286693900823593, 0.07654427736997604, 0.0739167109131813, 0.09871716052293777, 0.1860898733139038, 0.0238153375685215, 0.0849570631980896, 0.09031666815280914, 0.21751579642295837, 0.034020036458969116, 0.279154896736145, 0.18035398423671722, 0.24370652437210083, 0.046362098306417465, 0.3023362159729004, 0.22783821821212769, 0.027119698002934456, 0.222318634390831, 0.053213682025671005, 0.24317070841789246, 0.2670949399471283, 2.9170474590500817e-05, 4.4956021156394854e-05, 7.860391633585095e-05, 0.00040401346632279456, 1.919781880133087e-06, 0.026380667462944984, 0.029365530237555504], "count": [2493]}, "observation.state.joint_torque": {"min": [-32.8754997253418, -11.982000350952148, -17.322999954223633, -8.699999809265137, -0.3799999952316284, -1.6016000509262085, 1.2616000175476074, -0.7042607069015503, -0.3298436403274536, -0.630043625831604, -0.6076751947402954, -0.14610254764556885, -0.7579767107963562, -0.542097270488739, -0.08633331209421158, -0.04066966846585274, -0.4854888916015625, -0.34444767236709595, -0.15274357795715332, -0.032821137458086014, -0.3386908769607544, -0.5881515741348267, -0.10957689583301544, -0.03424813970923424, -0.10467266291379929, -0.33965036273002625, -0.6073408722877502, -0.13116022944450378, -0.032821137458086014, 14.71049976348877, -13.595999717712402, 3.680999994277954, -12.664999961853027, -2.398400068283081, -2.5432000160217285, -3.124799966812134, -1.3945127725601196, -0.8265193700790405, -0.43245595693588257, -0.9630843997001648, -0.1328205019235611, -0.47493478655815125, -0.9028558731079102, -0.220814049243927, -0.06635577231645584, -1.4535883665084839, -1.0765188932418823, -0.11289741843938828, -0.04780469834804535, -1.749103307723999, -0.3051096200942993, -0.09961536526679993, -0.04780469834804535, -0.14777317643165588, -1.3797096014022827, -0.41544800996780396, -0.14776279032230377, -0.09917692095041275, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.445999145507812, 12.754500389099121, -11.628000259399414, 4.216000080108643, 1.7280000448226929, 1.148800015449524, 2.3815999031066895, 0.4877610206604004, 0.23560258746147156, 0.3454676866531372, 0.4784354865550995, 0.07637178897857666, 0.36555588245391846, 0.2552174925804138, 0.09961536526679993, 0.01855107769370079, 0.41352906823158264, 0.31086641550064087, 0.1328205019235611, 0.014270060695707798, 0.33773142099380493, 0.36843425035476685, 0.10957689583301544, 0.020691584795713425, 0.07564578205347061, 0.3981776535511017, 0.3597990870475769, 0.08633331209421158, 0.022832093760371208, 41.92499923706055, 13.859999656677246, 19.94700050354004, 2.8320000171661377, 0.29600000381469727, 3.153599977493286, 0.7767999768257141, 2.1025938987731934, 4.5796051025390625, 2.445613145828247, 1.2799702882766724, 0.5993524789810181, 2.1472811698913574, 0.7589362263679504, 1.0575830936431885, 0.21405088901519775, 0.7397469282150269, 0.30702856183052063, 0.5130191445350647, 0.1462681144475937, 0.913409948348999, 0.329096257686615, 0.2822435200214386, 0.07206379622220993, 0.12842193245887756, 0.771409273147583, 0.5008403062820435, 0.25069868564605713, 0.08704736083745956, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.229446411132812, 1.7828198671340942, -13.314436912536621, -1.376194953918457, -0.005961657967418432, -0.21233434975147247, 1.7022842168807983, 0.0014364795060828328, -0.004475993104279041, 0.02878931351006031, 0.005711995530873537, 0.0011194924591109157, 0.007927004247903824, 0.007172678131610155, 0.00020312046399340034, 0.00013680428673978895, 0.017092134803533554, -0.0029022516682744026, -0.0016575921326875687, 1.2593895917234477e-05, 0.030308768153190613, 0.02194184809923172, 0.0006826172466389835, 8.671875548316166e-05, -0.0055154175497591496, 0.012901377864181995, -0.007318558637052774, -0.003367132041603327, -0.0005354846362024546, 27.529626846313477, 0.7357106804847717, 12.884197235107422, -1.9395085573196411, -0.5726677775382996, 1.5499470233917236, -0.908000111579895, 0.4651031792163849, 1.5339856147766113, 0.33670318126678467, 0.08801757544279099, 0.14639699459075928, 0.7930516004562378, -0.13222624361515045, 0.424219012260437, 0.10291211307048798, -0.12999700009822845, -0.19797109067440033, 0.0024294524919241667, -0.00036862975684925914, -0.0014363094232976437, -0.006177058909088373, 0.0001931335573317483, -0.00193157815374434, -0.0017039881786331534, -0.014941935427486897, 0.006140869110822678, -0.014482797123491764, 0.0018895099638029933, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.8041032552719116, 0.9711822271347046, 0.5410358905792236, 0.7225334048271179, 0.19220171868801117, 0.3596317172050476, 0.18013599514961243, 0.045365333557128906, 0.022870950400829315, 0.06971048563718796, 0.06550199538469315, 0.010024840012192726, 0.07040221989154816, 0.05484290421009064, 0.00731783639639616, 0.004395077005028725, 0.057700078934431076, 0.039212048053741455, 0.013917399570345879, 0.003688076976686716, 0.06024851277470589, 0.06707561761140823, 0.005928725469857454, 0.005052583292126656, 0.014520140364766121, 0.03855633735656738, 0.06480087339878082, 0.012262449599802494, 0.003981511574238539, 4.193288326263428, 2.128035306930542, 1.5400075912475586, 1.7518514394760132, 0.27959874272346497, 0.6137980818748474, 0.4761023223400116, 0.6397021412849426, 1.665202260017395, 0.4421692490577698, 0.24981093406677246, 0.16886591911315918, 0.8332483172416687, 0.29622218012809753, 0.438334584236145, 0.09904293715953827, 0.2616076171398163, 0.24423666298389435, 0.0270527470856905, 0.009391183964908123, 0.08505354076623917, 0.05750062316656113, 0.023787926882505417, 0.009889169596135616, 0.021761775016784668, 0.124952033162117, 0.08838236331939697, 0.03653736412525177, 0.005802022758871317, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2493]}, "observation.state.tcp": {"min": [0.3620089888572693, 0.1898690164089203, 0.9758182168006897, -1.33120858669281, 1.2201781272888184, -1.5883967876434326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24129284918308258, -0.30740272998809814, 0.9627946019172668, -0.7282760739326477, 1.2176573276519775, 0.3718360662460327, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43464064598083496, 0.23582406342029572, 1.0669629573822021, -1.0335404872894287, 1.6985360383987427, -1.228225827217102, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4744707942008972, -0.025504225865006447, 1.185941457748413, 1.2083789110183716, 1.955661654472351, 1.6102290153503418, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4226648211479187, 0.20919188857078552, 1.0158509016036987, -1.2134006023406982, 1.5911585092544556, -1.5139604806900024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4000774621963501, -0.14600737392902374, 1.0544782876968384, -0.21938958764076233, 1.6956244707107544, 0.6778562664985657, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.009247731417417526, 0.008436992764472961, 0.024020543321967125, 0.06891056150197983, 0.07687630504369736, 0.046942707151174545, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0572635643184185, 0.0627904161810875, 0.05028805509209633, 0.2960391640663147, 0.13347701728343964, 0.18999670445919037, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2493]}, "action": {"min": [1.050591230392456, -0.778996467590332, -0.22626207768917084, 1.079958438873291, -0.023280562832951546, -0.764829158782959, 0.29387587308883667, 0.0, 0.0, -0.21378237009048462, 0.0, 0.0, 0.0, -0.06137523800134659, 0.0, 0.0, 0.0, -0.03920448571443558, 0.0, 0.0, 0.0, -0.019232546910643578, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9878161549568176, -1.1101956367492676, -0.2426561713218689, 0.9915101528167725, -1.7011780738830566, -0.7637706995010376, -0.3804156482219696, 0.0, -0.1767115294933319, -0.20989428460597992, -0.15051506459712982, 0.0, 0.0, -0.123420350253582, 0.0, 0.0, 0.0, -0.09170855581760406, 0.0, 0.0, 0.0, -0.13316935300827026, 0.0, 0.0, 0.0, 0.0, -0.1530207097530365, 0.0, 0.0, 0.5625874400138855, -1.1068999767303467, 0.5439879298210144, -0.0010172177571803331, -0.00013565820700023323, 8.42879918967916e-21, -0.7931095361709595], "max": [1.2805851697921753, -0.5869213938713074, -0.001791254268027842, 1.5669046640396118, 0.16537600755691528, 0.03905634209513664, 0.5611498951911926, 1.346979022026062, 0.2951087951660156, 0.0, 0.2817610204219818, 0.5450382828712463, 0.7004209160804749, 0.10438565909862518, 0.05664006993174553, 0.05346652865409851, 0.6139121651649475, 0.17263194918632507, 0.0888158306479454, 0.055442582815885544, 0.26250922679901123, 0.18467937409877777, 0.03704507648944855, 0.033003758639097214, 0.26180002093315125, 0.3389192819595337, 0.2349373996257782, 0.10484607517719269, 0.05181122571229935, 1.5208845138549805, -0.2244003415107727, -0.0022926717065274715, 1.8276822566986084, 0.0669298768043518, -0.10389481484889984, 0.700269341468811, 1.352251410484314, 0.2924900949001312, 0.26541757583618164, 0.2518903613090515, 0.4138457477092743, 1.1829767227172852, 0.10515781491994858, 0.4579664170742035, 0.4947597086429596, 1.4981087446212769, 0.241128608584404, 1.4586435556411743, 0.9396234154701233, 1.4692778587341309, 0.24320396780967712, 1.5525035858154297, 1.0825974941253662, 0.26180002093315125, 1.2608722448349, 0.265231192111969, 1.3733807802200317, 1.4020354747772217, 0.5626999735832214, -1.106863021850586, 0.5442414879798889, 0.0004929874558001757, 2.2404252376873046e-05, 0.15377271175384521, -0.6000000238418579], "mean": [1.1990442276000977, -0.636859655380249, -0.22352978587150574, 1.1526039838790894, 0.11094437539577484, -0.07861384004354477, 0.39337030053138733, 1.2893307209014893, 0.2900381088256836, -0.05517076700925827, 0.12906824052333832, 0.5178740620613098, 0.6315386295318604, 0.09109504520893097, 0.05206775665283203, 0.04955770820379257, 0.49812301993370056, 0.1502605676651001, 0.06276914477348328, 0.048333387821912766, 0.16705982387065887, 0.15322048962116241, 0.02546992525458336, 0.02316957525908947, 0.10700519382953644, 0.2345876842737198, 0.1793968379497528, 0.038915958255529404, 0.035930074751377106, 1.2532341480255127, -0.6084749698638916, -0.21843241155147552, 1.2929723262786865, -1.3542386293411255, -0.3426370918750763, -0.02486281283199787, 1.221921682357788, 0.04059356451034546, 0.05167948827147484, -0.02442684955894947, 0.14754678308963776, 0.938409686088562, 0.05001355707645416, 0.1351153552532196, 0.22616732120513916, 1.1687132120132446, -0.04429205134510994, 1.2592025995254517, 0.663443386554718, 1.2631193399429321, -0.08822231739759445, 1.4026203155517578, 0.7712723612785339, 0.03640279918909073, 1.1473686695098877, -0.1058611050248146, 0.8811830282211304, 1.2978169918060303, 0.5626989603042603, -1.10686457157135, 0.5441268682479858, -0.00039370296872220933, 2.222244575023069e-07, 0.11537626385688782, -0.7203701734542847], "std": [0.04739512503147125, 0.035301778465509415, 0.020257921889424324, 0.06426199525594711, 0.04217546433210373, 0.10407756268978119, 0.0610271655023098, 0.14427925646305084, 0.034115612506866455, 0.03329676017165184, 0.023411989212036133, 0.06211115047335625, 0.09221333265304565, 0.01975349150598049, 0.006987317465245724, 0.006637301295995712, 0.15888112783432007, 0.03048468381166458, 0.013934336602687836, 0.01093678642064333, 0.09823595732450485, 0.034011367708444595, 0.012546941637992859, 0.011243288405239582, 0.07257747650146484, 0.1192251518368721, 0.029287055134773254, 0.015613820403814316, 0.013414950110018253, 0.11328087747097015, 0.19401822984218597, 0.025301147252321243, 0.20596274733543396, 0.31706687808036804, 0.11636771261692047, 0.18269945681095123, 0.16013401746749878, 0.07914136350154877, 0.07722814381122589, 0.07512582093477249, 0.10089489072561264, 0.19203174114227295, 0.021847672760486603, 0.08649618178606033, 0.10252002626657486, 0.21804413199424744, 0.03462930768728256, 0.2790643870830536, 0.18039584159851074, 0.24344535171985626, 0.04595409333705902, 0.3023316562175751, 0.22783724963665009, 0.03132680803537369, 0.22227606177330017, 0.05333946645259857, 0.24320435523986816, 0.2801721394062042, 1.6703574146959e-05, 3.654401780295302e-06, 5.104362571728416e-05, 0.00043186687980778515, 8.010695637494791e-06, 0.026452884078025818, 0.02958819642663002], "count": [2493]}, "observation.state.tcp_pose": {"min": [0.3620089888572693, 0.1898690164089203, 0.9758182168006897, -1.33120858669281, 1.2201781272888184, -1.5883967876434326, 0.24129284918308258, -0.30740272998809814, 0.9627946019172668, -0.7282760739326477, 1.2176573276519775, 0.3718360662460327], "max": [0.43464064598083496, 0.23582406342029572, 1.0669629573822021, -1.0335404872894287, 1.6985360383987427, -1.228225827217102, 0.4744707942008972, -0.025504225865006447, 1.185941457748413, 1.2083789110183716, 1.955661654472351, 1.6102290153503418], "mean": [0.4226648211479187, 0.20919188857078552, 1.0158509016036987, -1.2134006023406982, 1.5911585092544556, -1.5139604806900024, 0.4000774621963501, -0.14600737392902374, 1.0544782876968384, -0.21938958764076233, 1.6956244707107544, 0.6778562664985657], "std": [0.009247731417417526, 0.008436992764472961, 0.024020543321967125, 0.06891056150197983, 0.07687630504369736, 0.046942707151174545, 0.0572635643184185, 0.0627904161810875, 0.05028805509209633, 0.2960391640663147, 0.13347701728343964, 0.18999670445919037], "count": [2493]}, "action.tcp_pose": {"min": [0.3621427118778229, 0.1896727830171585, 0.9757699966430664, -1.3312840461730957, 1.220362901687622, -1.5903812646865845, 0.24117304384708405, -0.30890464782714844, 0.9627700448036194, -0.7282609939575195, 1.2190133333206177, 0.37194451689720154], "max": [0.43464478850364685, 0.23583859205245972, 1.066838026046753, -1.0348889827728271, 1.698348045349121, -1.2315422296524048, 0.4742768406867981, -0.025482064113020897, 1.186337947845459, 1.2066553831100464, 1.9557286500930786, 1.6072194576263428], "mean": [0.42268607020378113, 0.2091960459947586, 1.0158663988113403, -1.2133458852767944, 1.5910407304763794, -1.5139435529708862, 0.40008601546287537, -0.14628617465496063, 1.0549161434173584, -0.21898025274276733, 1.694380760192871, 0.677830696105957], "std": [0.009228276088833809, 0.008445549756288528, 0.02405993454158306, 0.06894814223051071, 0.07713751494884491, 0.0470161959528923, 0.05726079270243645, 0.06314922124147415, 0.05049828067421913, 0.29647818207740784, 0.13463008403778076, 0.19036433100700378], "count": [2493]}, "subtask_index": {"min": [54], "max": [1852], "mean": [1769.3301243481749], "std": [308.6330636100642], "count": [2493]}, "observation.tactile": {"min": [-0.012024916708469391, -4.416466617840342e-05, -9.734086052048951e-05, -0.0009292667382396758, -0.00010264115553582087, -0.00022118829656392336, -0.0035879439674317837, -4.376427750685252e-05, -0.00010023808135883883, -0.0003869727661367506, -2.0202656742185354e-05, -7.771731179673225e-05, -0.01968694105744362, -4.47929123765789e-05, -0.00010018603643402457, -0.0014755689771845937, -6.93275360390544e-05, -0.0004122316895518452, -0.02221774123609066, -2.9892195016145706e-05, -6.502050382550806e-05, -0.001470179413445294, -3.1889096135273576e-05, -0.00046070010284893215, -0.01818946935236454, -4.489613638725132e-05, -0.00010307401680620387, -0.001244424027390778, -3.0032539143576287e-05, -0.0003721010871231556, -1.8410340547561646, -3.673452010843903e-05, -8.469897147733718e-05, -0.19884689152240753, -0.005749627482146025, -0.04593682289123535, -6.803981304168701, -0.2661428153514862, -0.00010010652476921678, -0.19072532653808594, -0.024979960173368454, -0.10405327379703522, -0.019096124917268753, -4.8252444685203955e-05, -0.00010661947453627363, -0.002020974410697818, -6.531710823765025e-05, -0.00044196585076861084, -0.015801697969436646, -5.7940022088587284e-05, -0.00013062733341939747, -0.002942982828244567, -8.67141570779495e-05, -0.0003444877511356026, -0.30976101756095886, -4.566990537568927e-05, -0.00010105943511007354, -0.004202944226562977, -0.00037502156919799745, -0.004877258092164993], "max": [0.00914877001196146, 0.01927870698273182, 0.05903182178735733, 1.8359787645749748e-06, 0.00018470603390596807, 0.00012219313066452742, 0.00032081082463264465, 0.0076715219765901566, 0.021632160991430283, 1.7179258975374978e-06, 3.351960549480282e-05, 6.301892426563427e-06, 0.002222644630819559, 0.02576437033712864, 0.07389109581708908, 1.864069986368122e-06, 0.0002051266492344439, 2.083035360556096e-05, 0.0014886540593579412, 0.0242282897233963, 0.06905873864889145, 1.19720357361075e-06, 0.00012567071826197207, 4.917994829156669e-06, 0.00035370964906178415, 0.022013694047927856, 0.06595832109451294, 1.9395379240449984e-06, 0.00010835758439498022, 7.486532467737561e-06, 3.8692128658294678, 5.806188583374023, 12.005270004272461, 1.5511611763940891e-06, 0.0327756293118, 0.05297039449214935, 0.4507231116294861, 10.73550033569336, 11.98414421081543, 1.893597982416395e-06, 0.003694320097565651, 0.011279904283583164, 0.019203782081604004, 0.03256737068295479, 0.09588653594255447, 1.9747378701140406e-06, 0.0003148734103888273, 0.00024896179093047976, 0.17442362010478973, 0.06277890503406525, 0.16238802671432495, 2.367514071011101e-06, 0.0010230854386463761, 0.00284790457226336, 0.3335197865962982, 0.15043865144252777, 0.3746878504753113, 1.885902520371019e-06, 0.0011371648870408535, 0.004044591914862394], "mean": [-0.00021098475554026663, 0.0009144681971520185, 0.0027716178447008133, -3.7673977203667164e-05, -4.950153993377171e-07, -1.4450355365625e-06, 8.003727270988747e-05, 0.0003147311508655548, 0.000953744980506599, -1.5993866327335127e-05, 2.707469093365944e-07, 1.4924697779861162e-06, -0.000784591306000948, 0.002437115414068103, 0.0071686189621686935, -0.00013677477545570582, 1.2577848792716395e-05, -1.882959622889757e-05, -0.000896325393114239, 0.0012761997058987617, 0.0037432240787893534, -7.459765765815973e-05, 4.8356191655329894e-06, -1.919684473250527e-05, -0.0011031331960111856, 0.002141233067959547, 0.006203735247254372, -9.61074183578603e-05, -6.804428380746685e-07, -1.6887008314370178e-05, 0.9784860610961914, 2.0491878986358643, 4.559842109680176, -0.07801971584558487, 0.006526654120534658, 0.014491982758045197, -2.288482666015625, 0.6994574069976807, 4.679658889770508, -0.07492019981145859, -0.0035911675076931715, -0.03648915886878967, -0.0016501207137480378, 0.0047445823438465595, 0.01391918770968914, -0.000277712126262486, 2.419150769128464e-05, -4.226065721013583e-05, 2.424656031507766e-06, 0.0027340585365891457, 0.008052486926317215, -0.00015407257888000458, 1.537040043331217e-05, -7.2212624218082055e-06, 0.0007397422450594604, 0.001842761063016951, 0.005042519886046648, -8.944682485889643e-05, 1.0976340490742587e-05, 2.977178837682004e-06], "std": [0.0011481110705062747, 0.0019519871566444635, 0.005862177815288305, 8.73445751494728e-05, 1.4938571439415682e-05, 1.878618604678195e-05, 0.00041620025876909494, 0.0008046877919696271, 0.002346775960177183, 3.9765480323694646e-05, 4.187146714684786e-06, 8.536732821085025e-06, 0.002133606933057308, 0.0037081092596054077, 0.010876576416194439, 0.00021154586283955723, 2.852688885468524e-05, 4.415457442519255e-05, 0.002363842912018299, 0.00299379276111722, 0.008755698800086975, 0.00018215442833025008, 1.67563102877466e-05, 5.0623228162294254e-05, 0.0019598123617470264, 0.0027160607278347015, 0.00788982305675745, 0.000133663066662848, 9.081506505026482e-06, 3.695702980621718e-05, 1.1351642608642578, 1.916634440422058, 4.2121968269348145, 0.07118585705757141, 0.009104880504310131, 0.018378401175141335, 2.1633007526397705, 0.9535664916038513, 4.333725929260254, 0.06970769912004471, 0.004560467787086964, 0.03485296294093132, 0.003654229687526822, 0.0063341716304421425, 0.018419897183775902, 0.0003767759189940989, 4.0043731132755056e-05, 7.44001372368075e-05, 0.006562520749866962, 0.004544984083622694, 0.013244517147541046, 0.0002816409105435014, 4.848403841606341e-05, 0.00010808210208779201, 0.02522776462137699, 0.0072820549830794334, 0.017891885712742805, 0.00023567621246911585, 5.402640817919746e-05, 0.0003187059483025223], "count": [2493]}, "timestamp": {"min": [0.0], "max": [83.06666666666666], "mean": [41.53333333333333], "std": [23.988901754924242], "count": [2493]}, "frame_index": {"min": [0], "max": [2492], "mean": [1246.0], "std": [719.6670526477272], "count": [2493]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [2493]}, "index": {"min": [87138], "max": [89630], "mean": [88384.0], "std": [719.6670526477272], "count": [2493]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2493]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5626996755599976]], [[0.5635647177696228]], [[0.5644161105155945]]], "std": [[[0.3011679947376251]], [[0.3001527488231659]], [[0.30068087577819824]]], "count": [2493]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30093851685523987]], [[0.3050324618816376]], [[0.3035120964050293]]], "std": [[[0.18039904534816742]], [[0.18128742277622223]], [[0.1822633296251297]]], "count": [2493]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31033965945243835]], [[0.313564270734787]], [[0.31046262383461]]], "std": [[[0.18450024724006653]], [[0.18391695618629456]], [[0.18321919441223145]]], "count": [2493]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5666761994361877]], [[0.5671882629394531]], [[0.5675607323646545]]], "std": [[[0.307275652885437]], [[0.3065979778766632]], [[0.30736440420150757]]], "count": [2493]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6117647290229797]], [[0.6117647290229797]], [[0.6117647290229797]]], "mean": [[[0.003562147496268153]], [[0.003562147496268153]], [[0.003562147496268153]]], "std": [[[0.03700427711009979]], [[0.03700427711009979]], [[0.03700427711009979]]], "count": [2493]}, "observation.images.tactile_raw": {"min": [[[0.05882352963089943]], [[0.05882352963089943]], [[0.05882352963089943]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49234044551849365]], [[0.49234044551849365]], [[0.49234044551849365]]], "std": [[[0.22251462936401367]], [[0.22251462936401367]], [[0.22251462936401367]]], "count": [2493]}}}
+{"episode_index": 34, "stats": {"observation.state": {"min": [1.0511640310287476, -0.8024097681045532, -0.2257881909608841, 1.0475126504898071, 0.0002394448092672974, -0.7672021985054016, 0.3150900602340698, 0.006878374144434929, -0.00020253891125321388, -0.22191691398620605, 0.005497068166732788, 0.00352896424010396, 0.0036838832311332226, -0.06084870547056198, 0.0034693977795541286, 0.0008668916998431087, -0.0026417886838316917, -0.04691241681575775, 0.002988256048411131, 0.0008531456696800888, -0.0031449277885258198, -0.02694064937531948, 0.002732261549681425, 0.0008611272787675261, 0.005632173269987106, -0.0008203305769711733, 0.00439529400318861, 0.0023156502284109592, 0.0008478245581500232, 0.9527407288551331, -1.1006035804748535, -0.24294696748256683, 1.0191454887390137, -1.7557222843170166, -0.7668176889419556, -0.3395986557006836, 0.005494387820363045, -0.14341764152050018, -0.1918589025735855, -0.13407936692237854, 0.0032495688647031784, 0.00530614610761404, -0.11940594017505646, 0.003571866312995553, 0.0008407297427766025, -0.001641887822188437, -0.085979163646698, 0.003462660824880004, 0.0008651180542074144, -0.00243253237567842, -0.13451537489891052, 0.003556620329618454, 0.0008531456696800888, 0.006765672471374273, -0.0023520716931670904, -0.1553351730108261, 0.0032077303621917963, 0.0008695522556081414, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0007669904152862728, -9.58738019107841e-05, -0.002109223511070013, -0.775043785572052], "max": [1.2503056526184082, -0.5808188319206238, -0.001915558474138379, 1.5674726963043213, 0.16482406854629517, 0.058919601142406464, 0.547590970993042, 1.3165075778961182, 0.29826053977012634, 0.0018254745518788695, 0.2800317108631134, 0.5846549868583679, 0.617222785949707, 0.09801381081342697, 0.04537128284573555, 0.04547080025076866, 0.4220738708972931, 0.17865130305290222, 0.07128734886646271, 0.044247839599847794, 0.22186240553855896, 0.2038629651069641, 0.03011018969118595, 0.027018198743462563, 0.24080485105514526, 0.24035859107971191, 0.24277593195438385, 0.033659715205430984, 0.0363287515938282, 1.5114517211914062, -0.33260178565979004, -0.002614838071167469, 1.8405704498291016, 0.07953402400016785, -0.10966992378234863, 0.6979712843894958, 1.3233942985534668, 0.28476011753082275, 0.2872752547264099, 0.22735299170017242, 0.37130534648895264, 1.1707793474197388, 0.09814898669719696, 0.5268750786781311, 0.3498092293739319, 1.3503944873809814, 0.21779556572437286, 1.389035940170288, 0.7499194741249084, 1.359721064567566, 0.22404202818870544, 1.5158942937850952, 0.872947096824646, 0.241975799202919, 1.2684954404830933, 0.23717492818832397, 1.289404034614563, 1.3082185983657837, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 0.00047936898772604764, 0.0, 0.11447331309318542, -0.600361704826355], "mean": [1.1913939714431763, -0.638737678527832, -0.22280792891979218, 1.1710455417633057, 0.15279483795166016, -0.0905160903930664, 0.3654065430164337, 1.2653157711029053, 0.290168434381485, -0.06814440339803696, 0.197444349527359, 0.5363259315490723, 0.5096582174301147, 0.0872189849615097, 0.04419918730854988, 0.04222005233168602, 0.36872896552085876, 0.16728393733501434, 0.055466145277023315, 0.039150483906269073, 0.196234330534935, 0.18934287130832672, 0.02568511851131916, 0.0247290451079607, 0.06466329842805862, 0.21428275108337402, 0.19754624366760254, 0.031063243746757507, 0.029822440817952156, 1.2617298364639282, -0.6235567927360535, -0.2191716432571411, 1.319250464439392, -1.4106076955795288, -0.3308129906654358, -0.035434599965810776, 1.2204594612121582, 0.021741481497883797, 0.07218602299690247, -0.016797345131635666, 0.1355365663766861, 0.9287485480308533, 0.04900059476494789, 0.1384688913822174, 0.20860795676708221, 1.1618549823760986, -0.056142888963222504, 1.2045947313308716, 0.5030044317245483, 1.2522504329681396, -0.10201951116323471, 1.3483803272247314, 0.6208546757698059, 0.0289139524102211, 1.1466618776321411, -0.12088750302791595, 0.8303329348564148, 1.2335485219955444, 0.5626925230026245, -1.10685133934021, 0.5440788269042969, -0.0004383695195429027, -1.285171578047084e-07, 0.07614454627037048, -0.7294864654541016], "std": [0.0411941334605217, 0.04752488061785698, 0.02120129205286503, 0.09188888221979141, 0.02447539195418358, 0.12189643085002899, 0.0494290292263031, 0.12012957036495209, 0.029279466718435287, 0.03351745754480362, 0.02025141753256321, 0.0569753423333168, 0.07203146815299988, 0.01625935360789299, 0.005726302973926067, 0.005609078332781792, 0.06751775741577148, 0.028466379269957542, 0.009676501154899597, 0.006692421156913042, 0.04120384156703949, 0.03224115073680878, 0.0045475587248802185, 0.004785321652889252, 0.02451443485915661, 0.04360674321651459, 0.026618273928761482, 0.005781799554824829, 0.005579880438745022, 0.1143929660320282, 0.184982031583786, 0.023448823019862175, 0.2088862806558609, 0.31656336784362793, 0.10922946035861969, 0.15787898004055023, 0.14293983578681946, 0.07701395452022552, 0.08231796324253082, 0.06980635970830917, 0.08807308226823807, 0.19457492232322693, 0.023817792534828186, 0.09806207567453384, 0.07903732359409332, 0.22888220846652985, 0.03362930938601494, 0.27441689372062683, 0.12969224154949188, 0.25491490960121155, 0.04874599725008011, 0.3030276298522949, 0.16616329550743103, 0.028991486877202988, 0.23699472844600677, 0.05321670323610306, 0.22057116031646729, 0.27895471453666687, 3.429622302064672e-05, 4.306028495193459e-05, 3.677918357425369e-05, 0.00014461239334195852, 3.507761448418023e-06, 0.022072965279221535, 0.02675926871597767], "count": [2238]}, "observation.state.joint_torque": {"min": [-32.54100036621094, -7.4730000495910645, -16.490999221801758, -7.188000202178955, -0.3192000091075897, -1.0440000295639038, 1.2359999418258667, -0.6736960411071777, -0.3718700110912323, -0.5517541766166687, -0.45358169078826904, -0.09463459998369217, -0.5468946099281311, -0.5209891200065613, -0.09297433495521545, -0.039956167340278625, -0.6428410410881042, -0.40105605125427246, -0.12119869887828827, -0.032821137458086014, -0.4279210865497589, -0.27344730496406555, -0.09961536526679993, -0.03139413148164749, -0.10951047390699387, -0.43175891041755676, -0.3741910755634308, -0.09463459998369217, -0.03139413148164749, 11.3774995803833, -4.9664998054504395, 5.091000080108643, -8.958000183105469, -2.24399995803833, -1.4359999895095825, -4.1528000831604, -1.1907482147216797, -0.7462871074676514, -0.8040201663970947, -0.8760961294174194, -0.10957689583301544, -0.5027592778205872, -0.7790849804878235, -0.13448072969913483, -0.06564227491617203, -1.2357900142669678, -1.1053028106689453, -0.37687814235687256, -0.039242662489414215, -1.1101001501083374, -0.32333946228027344, -0.4598909318447113, -0.052085720002651215, -0.1376577466726303, -0.922045111656189, -0.47973212599754333, -0.4316665828227997, -0.10345793515443802, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.211999893188477, 16.577999114990234, -11.47700023651123, 4.85699987411499, 1.7408000230789185, 1.1967999935150146, 2.6224000453948975, 0.5450698137283325, 0.2305084764957428, 0.44239750504493713, 0.2783624827861786, 0.10127562284469604, 0.3434882164001465, 0.260974258184433, 0.10459613054990768, 0.01712406985461712, 0.3434881865978241, 0.3079880177974701, 0.13614100217819214, 0.016410568729043007, 0.3367719352245331, 0.4125696122646332, 0.1145576685667038, 0.015697065740823746, 0.06069255247712135, 0.24274446070194244, 0.41832640767097473, 0.06807050108909607, 0.014983562752604485, 36.779998779296875, 8.866499900817871, 21.118999481201172, 1.8259999752044678, 0.4496000111103058, 2.9560000896453857, 0.3887999951839447, 2.3840434551239014, 4.687854766845703, 2.415788412094116, 1.3271924257278442, 0.6541408896446228, 2.144402503967285, 0.6860169768333435, 1.0592433214187622, 0.21405088901519775, 0.6898547410964966, 0.3454071283340454, 0.10459613054990768, 0.03139413148164749, 0.3674747943878174, 0.34444764256477356, 0.10459613054990768, 0.02996712550520897, 0.1213851049542427, 0.44135352969169617, 0.38954249024391174, 0.13448072969913483, 0.0642152652144432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.107101440429688, 1.7216649055480957, -13.35074520111084, -1.4960086345672607, 0.04943164810538292, -0.2893446981906891, 1.6700961589813232, 0.0014169266214594245, -0.003516713622957468, 0.026858337223529816, 0.006405599415302277, 0.004082400351762772, 0.0016638562083244324, 0.0033341229427605867, 0.0004013405123259872, 0.00020499630772974342, 0.0012595664011314511, -0.000894297321792692, -0.002128362422809005, -0.0001083959941752255, 0.02254060097038746, 0.012823283672332764, 0.0012848819606006145, 0.0005410254234448075, -0.0023540561087429523, 0.01089918427169323, -0.00963192991912365, 0.0012848832411691546, 0.00010457051394041628, 27.302759170532227, 0.8298025727272034, 12.974385261535645, -2.0580339431762695, -0.5152835249900818, 1.5788166522979736, -0.8175976276397705, 0.3650658130645752, 1.4877270460128784, 0.40307551622390747, 0.1336439996957779, 0.1380676031112671, 0.8498871922492981, -0.0702994093298912, 0.47047948837280273, 0.1131267249584198, -0.08456148207187653, -0.2682308852672577, -0.001413219142705202, -0.0007307195337489247, -0.01254077348858118, -0.024107519537210464, -0.004169185645878315, -0.0019425235223025084, -0.0015165070071816444, -0.009470744989812374, -0.005987861193716526, -0.016494235023856163, 0.0025068260729312897, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7352191209793091, 0.9783790111541748, 0.6656294465065002, 0.6805747747421265, 0.248292475938797, 0.36561480164527893, 0.18083897233009338, 0.04084431380033493, 0.022989952936768532, 0.06098027527332306, 0.05835047364234924, 0.0123020950704813, 0.060713887214660645, 0.04388502240180969, 0.007679819129407406, 0.004464512225240469, 0.049622420221567154, 0.04318233206868172, 0.013459423556923866, 0.0032604823354631662, 0.050354719161987305, 0.04877133667469025, 0.009664034470915794, 0.003910094499588013, 0.010633502155542374, 0.034327276051044464, 0.05092442408204079, 0.008378925733268261, 0.003920244984328747, 4.247251510620117, 2.01706600189209, 1.581605315208435, 1.7721059322357178, 0.3122398853302002, 0.6396427154541016, 0.46147382259368896, 0.6074946522712708, 1.640337347984314, 0.5441592931747437, 0.29799187183380127, 0.16137149930000305, 0.8680307865142822, 0.2213849574327469, 0.467294305562973, 0.10349879413843155, 0.27972379326820374, 0.27532199025154114, 0.026791833341121674, 0.008958537131547928, 0.08562163263559341, 0.06191791594028473, 0.028703365474939346, 0.009906561113893986, 0.018041491508483887, 0.12368394434452057, 0.0877392366528511, 0.04058165103197098, 0.00693401088938117, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2238]}, "observation.state.tcp": {"min": [0.3620830774307251, 0.1746138483285904, 0.9662066698074341, -1.3665187358856201, 1.2205090522766113, -1.565568208694458, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23087649047374725, -0.29761430621147156, 0.9550997614860535, -0.6637338399887085, 1.2205768823623657, 0.4409335255622864, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4242513179779053, 0.23868001997470856, 1.0516700744628906, -1.0734442472457886, 1.7087597846984863, -1.228342890739441, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4748651683330536, -0.043646134436130524, 1.1841086149215698, 1.2073758840560913, 1.9029746055603027, 1.5568982362747192, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41770797967910767, 0.20555569231510162, 1.0100939273834229, -1.2840161323547363, 1.6044222116470337, -1.5050690174102783, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39710596203804016, -0.14581693708896637, 1.059299349784851, -0.2792315185070038, 1.6875216960906982, 0.6589474081993103, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.006988605484366417, 0.009121178649365902, 0.02344009466469288, 0.04728265851736069, 0.08695553988218307, 0.04333582520484924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05973709374666214, 0.05747063085436821, 0.05019061639904976, 0.29941657185554504, 0.12867848575115204, 0.177885040640831, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2238]}, "action": {"min": [1.0500849485397339, -0.802486777305603, -0.22578279674053192, 1.0475236177444458, 1.3116953596181702e-05, -0.7696402668952942, 0.3150826394557953, 0.0, 0.0, -0.2272530198097229, 0.0, 0.0, 0.0, -0.06411861628293991, 0.0, 0.0, 0.0, -0.05511093884706497, 0.0, 0.0, 0.0, -0.06656906008720398, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9527460336685181, -1.1007037162780762, -0.2429434359073639, 1.0191287994384766, -1.7557166814804077, -0.7622727155685425, -0.3394612967967987, 0.0, -0.1437796652317047, -0.20635908842086792, -0.13692107796669006, 0.0, 0.0, -0.1185074970126152, 0.0, 0.0, 0.0, -0.085919588804245, 0.0, 0.0, 0.0, -0.13505995273590088, 0.0, 0.0, 0.0, 0.0, -0.15470795333385468, 0.0, 0.0, 0.562587559223175, -1.1068999767303467, 0.5439881682395935, -0.0006914953701198101, -1.2243553101143334e-05, -0.001895471359603107, -0.7750721573829651], "max": [1.2502975463867188, -0.5808063745498657, -0.00015711899322923273, 1.5697301626205444, 0.16510841250419617, 0.058920878916978836, 0.547659695148468, 1.3289040327072144, 0.29517924785614014, 0.0, 0.28288891911506653, 0.589851438999176, 0.6230852007865906, 0.09467055648565292, 0.05479707941412926, 0.05063799396157265, 0.4261166751384735, 0.17647168040275574, 0.07735291123390198, 0.046399444341659546, 0.22850976884365082, 0.20518000423908234, 0.03403966501355171, 0.030644869431853294, 0.26180002093315125, 0.24496173858642578, 0.24753683805465698, 0.0393647663295269, 0.03731456771492958, 1.5117875337600708, -0.33259743452072144, -0.0032062821555882692, 1.841467022895813, 0.08006233721971512, -0.10963026434183121, 0.698291003704071, 1.3202975988388062, 0.29256200790405273, 0.2899250388145447, 0.24606789648532867, 0.3760557472705841, 1.1765849590301514, 0.11860114336013794, 0.5426034927368164, 0.403007835149765, 1.4479624032974243, 0.25857412815093994, 1.3937093019485474, 0.7520518898963928, 1.4319541454315186, 0.2628295421600342, 1.5218548774719238, 0.8757435083389282, 0.26180002093315125, 1.277489185333252, 0.27869439125061035, 1.2925974130630493, 1.3901640176773071, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 0.00040851946687325835, 1.4943065252737142e-05, 0.11461193859577179, -0.6000000238418579], "mean": [1.1914280652999878, -0.6388002634048462, -0.22281020879745483, 1.1711004972457886, 0.1527930200099945, -0.09062617272138596, 0.36548563838005066, 1.2746814489364624, 0.29013124108314514, -0.06349149346351624, 0.19848866760730743, 0.5413655638694763, 0.5104748606681824, 0.08758946508169174, 0.04663427174091339, 0.04447432607412338, 0.3690359592437744, 0.16826125979423523, 0.055445604026317596, 0.04258662462234497, 0.20148064196109772, 0.1911540925502777, 0.03116721101105213, 0.02807188220322132, 0.06278016418218613, 0.21745796501636505, 0.19795209169387817, 0.035735901445150375, 0.03377937152981758, 1.2628175020217896, -0.6241156458854675, -0.21918615698814392, 1.3197460174560547, -1.4106171131134033, -0.33128228783607483, -0.03526873141527176, 1.2218773365020752, 0.02591003105044365, 0.07206931710243225, -0.016919782385230064, 0.1362483948469162, 0.9379717111587524, 0.04422042891383171, 0.14308558404445648, 0.24083957076072693, 1.1631354093551636, -0.05676472932100296, 1.2034186124801636, 0.5029794573783875, 1.2535392045974731, -0.10247951000928879, 1.347022294998169, 0.6208789348602295, 0.02855878509581089, 1.1474947929382324, -0.12096619606018066, 0.8291125297546387, 1.2785017490386963, 0.56269371509552, -1.1068567037582397, 0.5441424250602722, -0.00048145840992219746, -8.472285912830557e-07, 0.07619374990463257, -0.7295266389846802], "std": [0.04118303209543228, 0.04756423085927963, 0.021244438365101814, 0.09198226779699326, 0.02449566312134266, 0.12213902175426483, 0.04958074539899826, 0.1387859284877777, 0.033834151923656464, 0.034294117242097855, 0.025447644293308258, 0.06475382298231125, 0.07291119545698166, 0.01498392317444086, 0.006223664619028568, 0.005883476231247187, 0.06753242760896683, 0.026847708970308304, 0.009510394185781479, 0.007226813118904829, 0.04222679138183594, 0.03169870749115944, 0.0061566587537527084, 0.005545422434806824, 0.029430821537971497, 0.0440811812877655, 0.027170388028025627, 0.006838726811110973, 0.006500409450381994, 0.11447503417730331, 0.18550407886505127, 0.02340489812195301, 0.20940209925174713, 0.3180817663669586, 0.10968578606843948, 0.15855765342712402, 0.1544497162103653, 0.07924331724643707, 0.08248782157897949, 0.07007075101137161, 0.09004950523376465, 0.19742296636104584, 0.02032311260700226, 0.1001693531870842, 0.10191091895103455, 0.22255051136016846, 0.03576558828353882, 0.27319803833961487, 0.12923114001750946, 0.24834634363651276, 0.04933416098356247, 0.30122262239456177, 0.16562239825725555, 0.03253145515918732, 0.2309873253107071, 0.053599003702402115, 0.21820446848869324, 0.2906799018383026, 1.206058823299827e-05, 7.381340310530504e-06, 1.671529571467545e-05, 0.00013837138249073178, 4.799635917152045e-06, 0.022115621715784073, 0.026868518441915512], "count": [2238]}, "observation.state.tcp_pose": {"min": [0.3620830774307251, 0.1746138483285904, 0.9662066698074341, -1.3665187358856201, 1.2205090522766113, -1.565568208694458, 0.23087649047374725, -0.29761430621147156, 0.9550997614860535, -0.6637338399887085, 1.2205768823623657, 0.4409335255622864], "max": [0.4242513179779053, 0.23868001997470856, 1.0516700744628906, -1.0734442472457886, 1.7087597846984863, -1.228342890739441, 0.4748651683330536, -0.043646134436130524, 1.1841086149215698, 1.2073758840560913, 1.9029746055603027, 1.5568982362747192], "mean": [0.41770797967910767, 0.20555569231510162, 1.0100939273834229, -1.2840161323547363, 1.6044222116470337, -1.5050690174102783, 0.39710596203804016, -0.14581693708896637, 1.059299349784851, -0.2792315185070038, 1.6875216960906982, 0.6589474081993103], "std": [0.006988605484366417, 0.009121178649365902, 0.02344009466469288, 0.04728265851736069, 0.08695553988218307, 0.04333582520484924, 0.05973709374666214, 0.05747063085436821, 0.05019061639904976, 0.29941657185554504, 0.12867848575115204, 0.177885040640831], "count": [2238]}, "action.tcp_pose": {"min": [0.361805260181427, 0.17479616403579712, 0.9660389423370361, -1.3668192625045776, 1.2180119752883911, -1.5655665397644043, 0.23017621040344238, -0.29897305369377136, 0.9550612568855286, -0.6639527678489685, 1.218788504600525, 0.4411361515522003], "max": [0.42426398396492004, 0.23872098326683044, 1.0518079996109009, -1.074252963066101, 1.7088637351989746, -1.2290875911712646, 0.47475355863571167, -0.04344833269715309, 1.1846867799758911, 1.2056605815887451, 1.9031087160110474, 1.5567729473114014], "mean": [0.4177190065383911, 0.20558159053325653, 1.010082721710205, -1.284031867980957, 1.6042811870574951, -1.5050365924835205, 0.3972140848636627, -0.14598213136196136, 1.059874176979065, -0.27927330136299133, 1.6854947805404663, 0.6587637066841125], "std": [0.007002576254308224, 0.009112013503909111, 0.023456433787941933, 0.04730575531721115, 0.08721485733985901, 0.043478939682245255, 0.05973777547478676, 0.05778438225388527, 0.05043157562613487, 0.3007262945175171, 0.13060393929481506, 0.17843782901763916], "count": [2238]}, "subtask_index": {"min": [54], "max": [1894], "mean": [1821.3154602323502], "std": [301.0153366931993], "count": [2238]}, "observation.tactile": {"min": [-0.011579330079257488, -3.561457560863346e-05, -7.830013055354357e-05, -0.001911544008180499, -7.39756942493841e-05, -0.0003049478982575238, -0.005572060588747263, -4.632038326235488e-05, -0.00010499120253371075, -0.0003796050150413066, -4.206045196042396e-05, -0.00011055310460506007, -0.013945560902357101, -4.457067552721128e-05, -9.861135913524777e-05, -0.0016183053376153111, -8.25428287498653e-05, -0.0003124309005215764, -0.018372777849435806, -3.5669196222443134e-05, -7.77101085986942e-05, -0.0011546576861292124, -7.5031812230008654e-06, -0.0003992413403466344, -0.01460381131619215, -4.5621025492437184e-05, -0.00010303035378456116, -0.0010559756774455309, -6.907298666192219e-05, -0.00029039644869044423, -1.4865155220031738, -4.1548279114067554e-05, -9.506818605586886e-05, -0.19881683588027954, -0.011535235680639744, -0.04285817593336105, -8.566473007202148, -0.5068221688270569, -0.00010979005310218781, -0.3005647659301758, -0.0329909548163414, -0.13943621516227722, -0.0117832375690341, -4.753077882924117e-05, -0.0001048088597599417, -0.0011849432485178113, -7.308906060643494e-05, -0.0002447785227559507, -0.023144999518990517, -5.0014612497761846e-05, -0.00011338549666106701, -0.005085461772978306, -9.59281824179925e-05, -0.0004947487614117563, -0.1968778371810913, -4.1096151107922196e-05, -9.252533345716074e-05, -0.0015060274163261056, -0.0003394032537471503, -0.0031799329444766045], "max": [0.011809035204350948, 0.028730453923344612, 0.08008503168821335, 1.4699403436679859e-06, 0.0003701848036143929, 8.560927381040528e-05, 0.0003347209421917796, 0.006373804993927479, 0.018583685159683228, 1.7923789528140333e-06, 1.6242558558587916e-05, 6.567410764546366e-06, 0.003930616192519665, 0.024824848398566246, 0.07594575732946396, 1.8200491922470974e-06, 0.0001767527573974803, 3.649725113064051e-05, 0.00908731296658516, 0.019437456503510475, 0.05545521900057793, 1.4273139186116168e-06, 0.00022376273409463465, 0.00010542949894443154, 0.0004901323118247092, 0.018554843962192535, 0.05390087515115738, 1.9109024833596777e-06, 0.00010429116082377732, 7.393966825475218e-06, 4.799129962921143, 8.544397354125977, 11.006669044494629, 1.7343113540846389e-06, 0.029606176540255547, 0.06735881417989731, 0.00033748202258720994, 5.825940132141113, 18.563325881958008, 2.0684879018517677e-06, 0.00025334081146866083, 0.00011653442197712138, 0.02362426556646824, 0.024065634235739708, 0.07487711310386658, 1.9259750843048096e-06, 0.00034878402948379517, 0.00026880946825258434, 0.3208274245262146, 0.09437504410743713, 0.2626769542694092, 2.051924184343079e-06, 0.0017375858733430505, 0.005745548754930496, 0.004598074126988649, 0.03885819762945175, 0.0752500593662262, 1.7187794583151117e-06, 0.00018766932771541178, 3.0018461984582245e-05], "mean": [-0.0015070452354848385, 0.005441430490463972, 0.015554873272776604, -0.0003370226768311113, 2.790944927255623e-05, -4.152076144237071e-05, 0.00026838158373720944, 1.51767108036438e-05, 7.550336158601567e-05, -1.5902218137853197e-06, -1.989249994949205e-06, 5.3274197853170335e-06, -0.00030746281845495105, 0.001423124922439456, 0.004251747392117977, -8.269848331110552e-05, 1.2223345038364641e-06, -6.359571671055164e-06, -0.00037829671055078506, 0.0010690210619941354, 0.0031698611564934254, -5.6644661526661366e-05, 8.853036888467614e-06, -1.0437022865517065e-05, -0.0003177882172167301, 0.0007655778899788857, 0.002254350110888481, -3.825050953309983e-05, -7.399402193186688e-07, -4.785089004144538e-06, 1.339909553527832, 2.3123347759246826, 4.575428485870361, -0.07353615760803223, 0.004001778084784746, 0.02046431601047516, -3.0608232021331787, 1.0869444608688354, 7.6284260749816895, -0.12079568207263947, -0.00933873187750578, -0.04690171033143997, 0.0012229884741827846, 0.005132138729095459, 0.015404535457491875, -0.00025318856933154166, 6.429955101339146e-05, -3.831780304608401e-06, -0.00013041459897067398, 0.0020149790216237307, 0.006013008300215006, -0.00011969953629886732, 2.8223624326528807e-07, -4.248810910212342e-06, -0.0015658594202250242, 0.0023852309677749872, 0.006851376965641975, -0.00012893130769953132, 4.265944880899042e-06, -2.738781040534377e-05], "std": [0.002159841125831008, 0.0067427572794258595, 0.018982460722327232, 0.0004389792156871408, 3.895966801792383e-05, 5.546901957131922e-05, 0.0003433060774113983, 0.00038099143421277404, 0.0011356089962646365, 2.2431097022490576e-05, 2.495837634342024e-06, 6.2989179241412785e-06, 0.0015873585361987352, 0.003675662213936448, 0.010896082036197186, 0.00022489609546028078, 1.4195414223650005e-05, 3.357135210535489e-05, 0.002072951290756464, 0.002565061440691352, 0.007534685079008341, 0.00014202519378159195, 2.3561095076729544e-05, 4.4028551201336086e-05, 0.0016008986858651042, 0.0018385822186246514, 0.005344889592379332, 9.871568181551993e-05, 6.843301434855675e-06, 3.0668255931232125e-05, 1.4379804134368896, 2.1572768688201904, 4.115997314453125, 0.06694819033145905, 0.0070820152759552, 0.023126225918531418, 2.823603391647339, 1.2975255250930786, 6.943698883056641, 0.11003361642360687, 0.009436337277293205, 0.04413854703307152, 0.0034424951300024986, 0.005075313150882721, 0.01523666363209486, 0.000246319395955652, 7.308895874302834e-05, 4.2985713662346825e-05, 0.013238986022770405, 0.004993894137442112, 0.014598104171454906, 0.000293807708658278, 6.865933391964063e-05, 0.0002288425457663834, 0.01264477614313364, 0.003450078424066305, 0.009187789633870125, 0.00017456147179473191, 3.23224303429015e-05, 0.00019517536566127092], "count": [2238]}, "timestamp": {"min": [0.0], "max": [74.56666666666666], "mean": [37.28333333333333], "std": [21.535162890973005], "count": [2238]}, "frame_index": {"min": [0], "max": [2237], "mean": [1118.5], "std": [646.0548867291901], "count": [2238]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [2238]}, "index": {"min": [89631], "max": [91868], "mean": [90749.5], "std": [646.0548867291901], "count": [2238]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2238]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5637964010238647]], [[0.5643529891967773]], [[0.5649309158325195]]], "std": [[[0.3015308976173401]], [[0.30078741908073425]], [[0.3015475869178772]]], "count": [2238]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3006775975227356]], [[0.30476999282836914]], [[0.3032212555408478]]], "std": [[[0.18084369599819183]], [[0.18164750933647156]], [[0.1826002299785614]]], "count": [2238]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3104889690876007]], [[0.3142514228820801]], [[0.311766654253006]]], "std": [[[0.18423208594322205]], [[0.18406620621681213]], [[0.18380190432071686]]], "count": [2238]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5681501626968384]], [[0.5684086084365845]], [[0.5685824155807495]]], "std": [[[0.3072141408920288]], [[0.30676767230033875]], [[0.3076864778995514]]], "count": [2238]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6313725709915161]], [[0.6313725709915161]], [[0.6313725709915161]]], "mean": [[[0.004158310126513243]], [[0.004158310126513243]], [[0.004158310126513243]]], "std": [[[0.040447697043418884]], [[0.040447697043418884]], [[0.040447697043418884]]], "count": [2238]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4919028580188751]], [[0.4919028580188751]], [[0.4919028580188751]]], "std": [[[0.2222667932510376]], [[0.2222667932510376]], [[0.2222667932510376]]], "count": [2238]}}}
+{"episode_index": 35, "stats": {"observation.state": {"min": [1.0505387783050537, -0.7797502875328064, -0.22578591108322144, 1.0340183973312378, -0.04215055704116821, -0.769399106502533, 0.3177388310432434, 0.006829048972576857, -0.0012912990059703588, -0.24764516949653625, 0.004020664840936661, 0.003479325445368886, 0.003621818730607629, -0.09483577311038971, 0.003439969150349498, 0.0008389560971409082, -0.003323517506942153, -0.059968773275613785, 0.0029935743659734726, 0.0008287574164569378, -0.0030185910873115063, -0.02691759169101715, 0.0028024648781865835, 0.0008442771504633129, 0.005631103180348873, -0.0032246552873402834, 0.004423260223120451, 0.002309622475877404, 0.0008673351258039474, 0.9317113757133484, -1.0649594068527222, -0.24285900592803955, 1.0101497173309326, -1.7068290710449219, -0.7690229415893555, -0.3116762638092041, 0.005485715344548225, -0.07929245382547379, -0.2014760673046112, -0.186257466673851, 0.0032743881456553936, 0.005331658758223057, -0.08910326659679413, 0.0037682943511754274, 0.0008216626010835171, -0.0016431143740192056, -0.06972619146108627, 0.004671365953981876, 0.0013267212780192494, -0.002019917592406273, -0.11650682985782623, 0.003903737058863044, 0.0008473811321891844, 0.006485240999609232, -0.0017140096751973033, -0.13933846354484558, 0.0032428319100290537, 0.0008083599386736751, 0.5625874400138855, -1.1069588661193848, 0.543796181678772, -0.000862864195369184, -9.58738019107841e-05, -0.014668690972030163, -0.7643059492111206], "max": [1.271713376045227, -0.5880517959594727, -0.0005809952272102237, 1.5693531036376953, 0.15314330160617828, 0.0971122533082962, 0.5841831564903259, 1.3599857091903687, 0.2959256172180176, 0.0003610037383623421, 0.2666497528553009, 0.5458789467811584, 0.6531267166137695, 0.08432161808013916, 0.049283530563116074, 0.05003628507256508, 0.4436008930206299, 0.16585372388362885, 0.05724453181028366, 0.04547080025076866, 0.16314645111560822, 0.1824573278427124, 0.02240411750972271, 0.02231614477932453, 0.2408401519060135, 0.21850429475307465, 0.26588132977485657, 0.03361574932932854, 0.03154599294066429, 1.391133427619934, -0.32532671093940735, -0.0008647816721349955, 1.779585838317871, 0.1426464319229126, -0.05234098061919212, 0.6981638073921204, 1.3585935831069946, 0.28646743297576904, 0.1255938708782196, 0.2177112102508545, 0.563344419002533, 1.1426955461502075, 0.1251669079065323, 0.6174524426460266, 0.5164058804512024, 1.2900199890136719, 0.2732012867927551, 1.4587939977645874, 0.7927998304367065, 1.4009039402008057, 0.2888278067111969, 1.510400652885437, 0.9839487671852112, 0.24203360080718994, 1.3312612771987915, 0.28465473651885986, 1.3895822763442993, 1.3125712871551514, 0.5628750920295715, -1.1066712141036987, 0.5444673299789429, 0.0003834952076431364, 0.0001917476038215682, 0.09108010679483414, -0.5940340757369995], "mean": [1.1476762294769287, -0.6301219463348389, -0.22343885898590088, 1.1115562915802002, 0.048754479736089706, -0.025052564218640327, 0.3706991374492645, 1.3316384553909302, 0.2882990539073944, -0.07877588272094727, 0.2118409276008606, 0.5180448293685913, 0.6259220242500305, 0.07641074061393738, 0.04801155999302864, 0.04789929836988449, 0.3427046239376068, 0.14152628183364868, 0.04730174317955971, 0.0356605090200901, 0.1379995048046112, 0.15962332487106323, 0.01779516600072384, 0.01896144635975361, 0.12419890612363815, 0.197572261095047, 0.2147410362958908, 0.029723091050982475, 0.02957247383892536, 1.2388206720352173, -0.623551607131958, -0.22018930315971375, 1.3058459758758545, -1.3497592210769653, -0.40132442116737366, -0.0037799696438014507, 1.222414493560791, 0.0987481102347374, -0.020823786035180092, -0.08423149585723877, 0.22169376909732819, 0.8939968347549438, 0.08144772797822952, 0.14811667799949646, 0.25675660371780396, 1.1525789499282837, -0.025927627459168434, 1.272196888923645, 0.5373290777206421, 1.3059453964233398, -0.08133479952812195, 1.3491132259368896, 0.7708695530891418, 0.05828561633825302, 1.2022731304168701, -0.09943532198667526, 0.9066576361656189, 1.2372456789016724, 0.5626965761184692, -1.1068626642227173, 0.5440793633460999, -0.0005216345307417214, 2.303735868736112e-07, 0.06960799545049667, -0.7231196761131287], "std": [0.04787388816475868, 0.04056808352470398, 0.018333373591303825, 0.08510878682136536, 0.0175415500998497, 0.11618838459253311, 0.04912101477384567, 0.13467846810817719, 0.031749725341796875, 0.03416864201426506, 0.024922357872128487, 0.06332996487617493, 0.09389495104551315, 0.01522392500191927, 0.006667263340204954, 0.006821565330028534, 0.06562140583992004, 0.02657017484307289, 0.007942412048578262, 0.006430685520172119, 0.028629347681999207, 0.029383456334471703, 0.0028465893119573593, 0.004011781886219978, 0.04340662434697151, 0.04081020876765251, 0.03128482773900032, 0.005789157468825579, 0.00535717885941267, 0.10926025360822678, 0.16363495588302612, 0.022791611030697823, 0.1862676739692688, 0.31300127506256104, 0.1295517235994339, 0.16567710041999817, 0.14435920119285583, 0.0635126605629921, 0.057009242475032806, 0.0669308751821518, 0.13508066534996033, 0.195380300283432, 0.02557743526995182, 0.1132870689034462, 0.10694396495819092, 0.22343704104423523, 0.03229665756225586, 0.2817680835723877, 0.15331323444843292, 0.26113128662109375, 0.050103940069675446, 0.292123019695282, 0.1848519891500473, 0.023136237636208534, 0.2420378178358078, 0.05669724941253662, 0.25678175687789917, 0.2677628993988037, 3.457232378423214e-05, 4.7914749302435666e-05, 5.1185179472668096e-05, 0.00015962163161020726, 9.396692803420592e-06, 0.016484318301081657, 0.030557207763195038], "count": [2497]}, "observation.state.joint_torque": {"min": [-41.72700119018555, -3.4560000896453857, -22.336000442504883, -6.232999801635742, -0.36959999799728394, -0.8888000249862671, 1.1543999910354614, -0.5934638381004333, -0.2839966416358948, -0.4448828399181366, -0.3019735515117645, -0.10293588042259216, -0.6063814163208008, -0.4586239159107208, -0.07471152395009995, -0.039956167340278625, -0.46438068151474, -0.38186678290367126, -0.13116022944450378, -0.0321076326072216, -0.4643807113170624, -0.4989214241504669, -0.09463459998369217, -0.032821137458086014, -0.11522789299488068, -0.203406423330307, -0.3914613723754883, -0.08633331209421158, -0.0321076326072216, 8.154000282287598, -5.385000228881836, -2.9820001125335693, -7.567999839782715, -2.233599901199341, -4.4344000816345215, -3.740000009536743, -1.674688696861267, -0.8558104634284973, -0.6064324975013733, -1.384356141090393, -0.2756025195121765, -0.9556264281272888, -1.0103158950805664, -0.10459613054990768, -0.06849627941846848, -1.2607359886169434, -1.1839789152145386, -0.47317299246788025, -0.04281017929315567, -1.5792781114578247, -0.41544803977012634, -0.40178200602531433, -0.05922074615955353, -0.17636024951934814, -1.4814127683639526, -0.4950835406780243, -0.9861921668052673, -0.15768416225910187, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.881999969482422, 7.927499771118164, -10.57699966430664, 0.5590000152587891, 1.3495999574661255, 1.0176000595092773, 3.572000026702881, 0.32729655504226685, 0.23560260236263275, 0.4361840486526489, 0.34919577836990356, 0.09297433495521545, 0.5545703172683716, 0.31182587146759033, 0.09297433495521545, 0.01783757284283638, 0.428880512714386, 0.3358124792575836, 0.1411217600107193, 0.013556556776165962, 0.3665153384208679, 0.3905019462108612, 0.11123716086149216, 0.015697065740823746, 0.05849354341626167, 0.26097428798675537, 0.4384751617908478, 0.10957689583301544, 0.014270060695707798, 39.47850036621094, 8.464500427246094, 19.90399932861328, 2.0390000343322754, 0.5320000052452087, 3.3808000087738037, 2.368799924850464, 2.459181547164917, 4.782095909118652, 2.038010835647583, 1.3868415355682373, 0.6923267841339111, 2.1472811698913574, 0.9057341814041138, 1.0592433214187622, 0.21405088901519775, 0.7944363951683044, 0.42024537920951843, 0.2473781555891037, 0.04709119349718094, 0.6687465310096741, 0.29743391275405884, 0.26896145939826965, 0.04851820319890976, 0.13150052726268768, 0.5056376457214355, 0.8088283538818359, 0.19258970022201538, 0.07991233468055725, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.530126571655273, 2.140601873397827, -12.799541473388672, -1.5092289447784424, -0.07551645487546921, -0.15356174111366272, 1.6771968603134155, 0.0007226991001516581, -0.0024771825410425663, 0.029381228610873222, 0.013965227641165257, 0.002450160915032029, 0.004633244127035141, 0.00743438582867384, 0.00010904315422521904, 0.00024145215866155922, 0.0113467862829566, 0.0012979893945157528, -0.002104409970343113, -0.00015401562268380076, 0.02052229829132557, 0.02069283463060856, 0.0018151809927076101, 0.00027545710327103734, -0.0042401873506605625, 0.013151255436241627, -0.008368868380784988, 0.0006708846194669604, -0.00015858765982557088, 27.082033157348633, 0.8890714645385742, 12.657976150512695, -2.116478204727173, -0.5558850169181824, 1.5101906061172485, -0.9039338231086731, 0.47198811173439026, 1.526581883430481, 0.43836382031440735, 0.08235528320074081, 0.16939616203308105, 0.8898100852966309, -0.09686220437288284, 0.44389909505844116, 0.11457657814025879, -0.12663494050502777, -0.2403276562690735, -0.0003583781945053488, 0.0002694575523491949, 0.0026436273474246264, -0.01728804036974907, 0.0019395123235881329, 0.0004291885416023433, -0.000712276145350188, -0.015894364565610886, -0.012954136356711388, -0.016556674614548683, 0.0033991984091699123, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.891396701335907, 0.8664413094520569, 0.7245643138885498, 0.6631001830101013, 0.20394949615001678, 0.35425621271133423, 0.17634478211402893, 0.03596607595682144, 0.020626941695809364, 0.056567590683698654, 0.05339024215936661, 0.009974954649806023, 0.05236535891890526, 0.04158446937799454, 0.006616263184696436, 0.004467761144042015, 0.0540500171482563, 0.04119928553700447, 0.013431009836494923, 0.0037492881529033184, 0.04831387475132942, 0.05398891493678093, 0.009340918622910976, 0.005163868889212608, 0.012689895927906036, 0.035264499485492706, 0.05428353324532509, 0.007289537228643894, 0.004142611287534237, 4.446543216705322, 1.8747650384902954, 2.16265869140625, 1.7311654090881348, 0.3020592927932739, 0.8648743033409119, 0.5282467603683472, 0.8314031362533569, 1.4293626546859741, 0.4806043207645416, 0.33023592829704285, 0.1811039000749588, 0.8165356516838074, 0.3285307288169861, 0.4133363664150238, 0.09942452609539032, 0.282021164894104, 0.2766803205013275, 0.029339483007788658, 0.008745851926505566, 0.07745165377855301, 0.06760638952255249, 0.022924669086933136, 0.01070778165012598, 0.022212235257029533, 0.13952405750751495, 0.11002971231937408, 0.053919002413749695, 0.008135027252137661, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2497]}, "observation.state.tcp": {"min": [0.3619039058685303, 0.19212093949317932, 0.9496524930000305, -1.2679495811462402, 1.2181867361068726, -1.5378117561340332, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2405320405960083, -0.2665981948375702, 0.9477100372314453, -0.6517691016197205, 1.204111933708191, 0.4647988975048065, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42476198077201843, 0.23186913132667542, 1.061809778213501, -1.003474235534668, 1.8136217594146729, -1.2290327548980713, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46178779006004333, -0.04681820422410965, 1.1406649351119995, 1.2083003520965576, 1.96042799949646, 1.5670934915542603, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41276833415031433, 0.21458318829536438, 0.9875248670578003, -1.195609450340271, 1.6863850355148315, -1.4863057136535645, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39687126874923706, -0.1507682204246521, 1.0507848262786865, -0.19880881905555725, 1.6592655181884766, 0.7056581377983093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00908414926379919, 0.006277044303715229, 0.027558591216802597, 0.051875628530979156, 0.09406321495771408, 0.034349776804447174, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.056958191096782684, 0.05039609968662262, 0.04483529180288315, 0.2743958830833435, 0.1409904807806015, 0.17953331768512726, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2497]}, "action": {"min": [1.0505409240722656, -0.7793967127799988, -0.22578279674053192, 1.0340079069137573, -0.04217670112848282, -0.7662664651870728, 0.3177255392074585, 0.0, 0.0, -0.24600328505039215, 0.0, 0.0, 0.0, -0.09432723373174667, 0.0, 0.0, 0.0, -0.06968297809362411, 0.0, 0.0, 0.0, -0.04744425788521767, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9317155480384827, -1.0651164054870605, -0.24284833669662476, 1.0100370645523071, -1.706821084022522, -0.7699317336082458, -0.3117245137691498, 0.0, -0.07977968454360962, -0.20534487068653107, -0.18803180754184723, 0.0, 0.0, -0.09053926914930344, 0.0, 0.0, 0.0, -0.07087834924459457, 0.0, 0.0, 0.0, -0.1209709495306015, 0.0, 0.0, 0.0, 0.0, -0.14312833547592163, 0.0, 0.0, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0008129551424644887, -1.0972026757372078e-05, -0.014540070667862892, -0.7643557190895081], "max": [1.2717429399490356, -0.5880339741706848, -0.0015494723338633776, 1.5680303573608398, 0.15316040813922882, 0.09710653126239777, 0.5843338370323181, 1.3706880807876587, 0.29478177428245544, 0.0, 0.2736470103263855, 0.5486521124839783, 0.6624950170516968, 0.08558859676122665, 0.056003112345933914, 0.052090540528297424, 0.4559698700904846, 0.16594235599040985, 0.06173723563551903, 0.04631747305393219, 0.16957449913024902, 0.18578067421913147, 0.026741009205579758, 0.024781884625554085, 0.26180002093315125, 0.23133105039596558, 0.2663588225841522, 0.03915978595614433, 0.03652052953839302, 1.39133882522583, -0.3253408968448639, -3.3782311220420524e-05, 1.7801984548568726, 0.14283202588558197, -0.05234089121222496, 0.7804462909698486, 1.3609154224395752, 0.29228919744491577, 0.12619097530841827, 0.23638342320919037, 0.5686718821525574, 1.1473140716552734, 0.12492484599351883, 0.6436377167701721, 0.5506903529167175, 1.2914711236953735, 0.2739948332309723, 1.462597370147705, 0.7937190532684326, 1.4066625833511353, 0.2899257242679596, 1.5158054828643799, 0.9847679734230042, 0.25145843625068665, 1.3340901136398315, 0.2875431776046753, 1.3957098722457886, 1.3810456991195679, 0.5626999735832214, -1.106863021850586, 0.5442846417427063, 0.00041969752055592835, 0.00019661230908241123, 0.09170260280370712, -0.5931448340415955], "mean": [1.1477614641189575, -0.6301466822624207, -0.22345830500125885, 1.1115846633911133, 0.04875362291932106, -0.025157013908028603, 0.37075263261795044, 1.3406480550765991, 0.2900139391422272, -0.07548923790454865, 0.21494410932064056, 0.5240418910980225, 0.630088746547699, 0.07689394056797028, 0.053406354039907455, 0.049958549439907074, 0.3457311987876892, 0.14341172575950623, 0.04798273369669914, 0.039513975381851196, 0.139030322432518, 0.1650826781988144, 0.02349841222167015, 0.021762413904070854, 0.1216915100812912, 0.2036137878894806, 0.21549628674983978, 0.03578785061836243, 0.033620111644268036, 1.2395700216293335, -0.6244188547134399, -0.22020797431468964, 1.306467056274414, -1.3496887683868408, -0.40173569321632385, -0.0027683305088430643, 1.225865125656128, 0.10635438561439514, -0.020678266882896423, -0.0842798501253128, 0.2227964848279953, 0.9024184346199036, 0.07500424236059189, 0.15289805829524994, 0.29608219861984253, 1.1506054401397705, -0.026417816057801247, 1.271440863609314, 0.5371437668800354, 1.3046214580535889, -0.08100815862417221, 1.348877191543579, 0.7707223296165466, 0.06064263731241226, 1.200089931488037, -0.09970854967832565, 0.9045913815498352, 1.2776994705200195, 0.5626991987228394, -1.1068646907806396, 0.5441468954086304, -0.0005639880546368659, 1.2470557066990295e-06, 0.06965053081512451, -0.723162055015564], "std": [0.04791461303830147, 0.0405951552093029, 0.018239222466945648, 0.08511834591627121, 0.017557529732584953, 0.1164708137512207, 0.04923071339726448, 0.14521479606628418, 0.032123010605573654, 0.03494936227798462, 0.025980379432439804, 0.0626981183886528, 0.09325118362903595, 0.014984101057052612, 0.0074541689828038216, 0.00683426670730114, 0.06680189818143845, 0.02587212435901165, 0.008667347021400928, 0.0071179564110934734, 0.029628410935401917, 0.029407652094960213, 0.0046669188886880875, 0.004322694148868322, 0.04933086782693863, 0.04302741587162018, 0.030466336756944656, 0.006754322908818722, 0.0063927434384822845, 0.1090991273522377, 0.16438478231430054, 0.022752823308110237, 0.1868773102760315, 0.31376227736473083, 0.12974567711353302, 0.1695147603750229, 0.15518546104431152, 0.06830983608961105, 0.057073481380939484, 0.06794308871030807, 0.13651986420154572, 0.20064124464988708, 0.0249115489423275, 0.11543328315019608, 0.13794532418251038, 0.2236962914466858, 0.03298938274383545, 0.2824588716030121, 0.15338391065597534, 0.26126813888549805, 0.049659255892038345, 0.2930661141872406, 0.185099259018898, 0.026166455820202827, 0.24204285442829132, 0.0561671182513237, 0.25701576471328735, 0.2797796428203583, 1.662241447775159e-05, 6.107798526500119e-06, 2.1181171177886426e-05, 0.00015537271974608302, 1.1176420230185613e-05, 0.01652519777417183, 0.030617959797382355], "count": [2497]}, "observation.state.tcp_pose": {"min": [0.3619039058685303, 0.19212093949317932, 0.9496524930000305, -1.2679495811462402, 1.2181867361068726, -1.5378117561340332, 0.2405320405960083, -0.2665981948375702, 0.9477100372314453, -0.6517691016197205, 1.204111933708191, 0.4647988975048065], "max": [0.42476198077201843, 0.23186913132667542, 1.061809778213501, -1.003474235534668, 1.8136217594146729, -1.2290327548980713, 0.46178779006004333, -0.04681820422410965, 1.1406649351119995, 1.2083003520965576, 1.96042799949646, 1.5670934915542603], "mean": [0.41276833415031433, 0.21458318829536438, 0.9875248670578003, -1.195609450340271, 1.6863850355148315, -1.4863057136535645, 0.39687126874923706, -0.1507682204246521, 1.0507848262786865, -0.19880881905555725, 1.6592655181884766, 0.7056581377983093], "std": [0.00908414926379919, 0.006277044303715229, 0.027558591216802597, 0.051875628530979156, 0.09406321495771408, 0.034349776804447174, 0.056958191096782684, 0.05039609968662262, 0.04483529180288315, 0.2743958830833435, 0.1409904807806015, 0.17953331768512726], "count": [2497]}, "action.tcp_pose": {"min": [0.3619745969772339, 0.19242382049560547, 0.949656069278717, -1.2680413722991943, 1.2197993993759155, -1.536591649055481, 0.23994080722332, -0.269225150346756, 0.9477287530899048, -0.6519729495048523, 1.1851598024368286, 0.4647558331489563], "max": [0.42469802498817444, 0.231832355260849, 1.0617998838424683, -1.0034891366958618, 1.813577651977539, -1.2298591136932373, 0.46166926622390747, -0.04668344557285309, 1.1401594877243042, 1.208802580833435, 1.9604382514953613, 1.5835281610488892], "mean": [0.41279247403144836, 0.21459618210792542, 0.9875289797782898, -1.1955925226211548, 1.6862651109695435, -1.4862842559814453, 0.3969063460826874, -0.15103305876255035, 1.0512375831604004, -0.19927752017974854, 1.6572201251983643, 0.7060290575027466], "std": [0.009048108011484146, 0.006260869558900595, 0.027629543095827103, 0.051864150911569595, 0.09441325068473816, 0.03432475030422211, 0.05695226788520813, 0.050626497715711594, 0.04497243091464043, 0.27343282103538513, 0.14390349388122559, 0.18147887289524078], "count": [2497]}, "subtask_index": {"min": [54], "max": [1941], "mean": [1858.7993592310772], "std": [332.87353806273154], "count": [2497]}, "observation.tactile": {"min": [-0.02026514522731304, -4.207463643979281e-05, -9.163845970761031e-05, -0.001462649437598884, -0.00019784805772360414, -0.00029537934460677207, -0.003668661927804351, -4.4657081161858514e-05, -9.795798541745171e-05, -0.00047220138367265463, -7.756559170957189e-06, -7.364049088209867e-05, -0.0077293021604418755, -4.58158174296841e-05, -0.00010040654160548002, -0.001009850762784481, -5.2031540690222755e-05, -0.00017127749742940068, -0.017131857573986053, -3.4181033697677776e-05, -7.436352461809292e-05, -0.0011746201198548079, -1.5398367395391688e-05, -0.00036267496761865914, -0.02096114307641983, -5.234383570495993e-05, -0.00011766666284529492, -0.0019388729706406593, -5.8508481743047014e-05, -0.00047117043868638575, -6.0435051918029785, -3.776124140131287e-05, -8.745012019062415e-05, -0.19678989052772522, -0.017241492867469788, -0.10312988609075546, -9.220593452453613, -1.1591461896896362, -9.533808042760938e-05, -0.29896146059036255, -0.04649878665804863, -0.13260868191719055, -0.13381776213645935, -4.884342342847958e-05, -0.00010759662836790085, -0.001978436252102256, -0.0005984000745229423, -0.002926375949755311, -0.013429357670247555, -5.342990334611386e-05, -0.0001198556856252253, -0.0038177280221134424, -3.989037941209972e-05, -0.00027075980324298143, -0.21513962745666504, -4.0713675844017416e-05, -9.121659240918234e-05, -0.0013250678312033415, -0.00029101394466124475, -0.003227552864700556], "max": [0.001370524289086461, 0.026254935190081596, 0.08461541682481766, 1.7179415863211034e-06, 0.00028526404639706016, 6.825560376455542e-06, 0.008389342576265335, 0.008813374675810337, 0.025599690154194832, 1.6662203279338428e-06, 0.00013226488954387605, 0.00012010386126348749, 0.022113852202892303, 0.017488405108451843, 0.05632477626204491, 1.8707806930251536e-06, 0.0003186761459801346, 0.00029131423798389733, 0.005246518645435572, 0.019992385059595108, 0.06152407079935074, 1.373611667077057e-06, 0.0002559683925937861, 1.8202714272774756e-05, 0.001057461486198008, 0.030683418735861778, 0.09344805777072906, 2.2110457393864635e-06, 0.00015080743469297886, 8.576146683481056e-06, 5.100885391235352, 11.97614574432373, 11.904414176940918, 1.6325036540365545e-06, 0.031203528866171837, 0.07881835848093033, 0.7702088356018066, 17.29384422302246, 20.437820434570312, 1.7975409036807832e-06, 0.01511312648653984, 0.026169031858444214, 0.027260055765509605, 0.031452782452106476, 0.08772946894168854, 1.979428361664759e-06, 0.0003334741631988436, 0.0003794481744989753, 0.14377091825008392, 0.08627335727214813, 0.24879737198352814, 2.1987370928400196e-06, 0.0013545729452744126, 0.001750556635670364, 0.0047890376299619675, 0.03691691905260086, 0.07881907373666763, 1.6768956356827402e-06, 0.00014890565944369882, 7.169543096097186e-05], "mean": [-0.0012343662092462182, 0.002622237429022789, 0.00799464900046587, -0.00012515916023403406, 5.272732323646778e-06, -1.8858818293665536e-05, 0.0001746748894220218, 0.00021944838226772845, 0.0006712778704240918, -1.1616749361564871e-05, -2.3534605020358867e-07, 3.1304703043133486e-06, -7.213248863990884e-06, 0.0013550806324929, 0.003994396887719631, -7.010812259977683e-05, 6.8206545620341785e-06, -2.401247911620885e-06, -0.000326444860547781, 0.0011255568824708462, 0.003322795033454895, -5.2683011745102704e-05, 5.1288361646584235e-06, -6.287295036599971e-06, -0.00043075281428173184, 0.0015949595253914595, 0.004640793893486261, -8.714914292795584e-05, 7.422406724799657e-06, -1.057158806361258e-05, 1.2732961177825928, 2.331167221069336, 4.784268379211426, -0.08278965204954147, 0.004023983608931303, 0.021117128431797028, -3.1553924083709717, 1.4645938873291016, 7.420284748077393, -0.11841833591461182, -0.008805667981505394, -0.049209825694561005, -0.00041544498526491225, 0.006982802413403988, 0.021109433844685555, -0.00040350176277570426, 5.832569149788469e-05, -3.3595126296859235e-05, 0.00013584899716079235, 0.0012091652024537325, 0.0036094454117119312, -6.274393672356382e-05, 7.835424185032025e-06, -1.0605918987494078e-06, -0.00021116020798217505, 0.0013975286856293678, 0.004103292711079121, -8.563555456930771e-05, 6.078334536141483e-06, -6.349284376483411e-06], "std": [0.002264703856781125, 0.0038435019087046385, 0.011798412539064884, 0.00020172935910522938, 3.976862717536278e-05, 3.811123679042794e-05, 0.00035666298936121166, 0.0008396263001486659, 0.0024394213687628508, 4.2087565816473216e-05, 5.693318144039949e-06, 6.874107839394128e-06, 0.0015884634340181947, 0.002410232787951827, 0.007241584826260805, 0.0001295231922995299, 3.460838343016803e-05, 2.3135220544645563e-05, 0.0013363236794248223, 0.0024332678876817226, 0.0071261306293308735, 0.00012105303176213056, 2.1382089471444488e-05, 2.654594754858408e-05, 0.0017263633199036121, 0.0031877909786999226, 0.00920789409428835, 0.00018732227908913046, 2.2924901713849977e-05, 4.0419141441816464e-05, 1.5048154592514038, 2.3015029430389404, 4.0244059562683105, 0.06903882324695587, 0.009640379808843136, 0.027322810143232346, 2.8271994590759277, 2.3374218940734863, 6.54446268081665, 0.1024174615740776, 0.011296375654637814, 0.044742289930582047, 0.007227723952382803, 0.005731439217925072, 0.017115343362092972, 0.00034330697963014245, 7.100416405592114e-05, 0.00014085038856137544, 0.005053028929978609, 0.0037564339581876993, 0.010976864956319332, 0.0001912838197313249, 4.902179352939129e-05, 6.523188494611531e-05, 0.004438659176230431, 0.0031795722898095846, 0.00916952546685934, 0.0001958454813575372, 2.0352106730570085e-05, 6.911115633556619e-05], "count": [2497]}, "timestamp": {"min": [0.0], "max": [83.2], "mean": [41.6], "std": [24.027391775961775], "count": [2497]}, "frame_index": {"min": [0], "max": [2496], "mean": [1248.0], "std": [720.8217532788533], "count": [2497]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [2497]}, "index": {"min": [91869], "max": [94365], "mean": [93117.0], "std": [720.8217532788533], "count": [2497]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2497]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5668579339981079]], [[0.5673812031745911]], [[0.5681758522987366]]], "std": [[[0.3011455535888672]], [[0.3003903329372406]], [[0.30106425285339355]]], "count": [2497]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30104494094848633]], [[0.30530408024787903]], [[0.303977370262146]]], "std": [[[0.18155451118946075]], [[0.18232131004333496]], [[0.18318311870098114]]], "count": [2497]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31050965189933777]], [[0.31428465247154236]], [[0.31240129470825195]]], "std": [[[0.18474598228931427]], [[0.1846931278705597]], [[0.18493200838565826]]], "count": [2497]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5707734227180481]], [[0.5709496140480042]], [[0.5712711215019226]]], "std": [[[0.30723944306373596]], [[0.30684828758239746]], [[0.3077959716320038]]], "count": [2497]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8823529481887817]], [[0.8823529481887817]], [[0.8823529481887817]]], "mean": [[[0.004154070746153593]], [[0.004154070746153593]], [[0.004154070746153593]]], "std": [[[0.04040127247571945]], [[0.04040127247571945]], [[0.04040127247571945]]], "count": [2497]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49148476123809814]], [[0.49148476123809814]], [[0.49148476123809814]]], "std": [[[0.22213229537010193]], [[0.22213229537010193]], [[0.22213229537010193]]], "count": [2497]}}}
+{"episode_index": 36, "stats": {"observation.state": {"min": [1.0501244068145752, -0.7798638939857483, -0.22597897052764893, 0.9946948885917664, -0.13638874888420105, -0.769166111946106, 0.4083341658115387, 0.00688198721036315, -0.00021392143389675766, -0.2506386935710907, 0.003960623871535063, 0.0034942172933369875, 0.0036762785166502, -0.0316825695335865, 0.0034949262626469135, 0.0008354087476618588, -0.0032872105948626995, -0.016682837158441544, 0.0030432131607085466, 0.0008544759475626051, -0.0032153332140296698, -0.00524653447791934, 0.0027237520553171635, 0.0008296442101709545, 0.005378500558435917, -0.0014669799711555243, 0.0049904268234968185, 0.0022936672903597355, 0.0008575798710808158, 0.9791996479034424, -1.019286036491394, -0.24322295188903809, 1.0164011716842651, -1.7947354316711426, -0.7699987888336182, -0.33317187428474426, 0.005581474397331476, -0.06875719130039215, -0.19799388945102692, -0.2308456003665924, 0.003256305353716016, 0.005362813826650381, -0.1437319964170456, 0.0035764756612479687, 0.000839399523101747, -0.0018793523777276278, -0.07698573172092438, 0.006412623915821314, 0.0008739865152165294, -0.0021867312025278807, -0.12132947146892548, 0.004739087540656328, 0.0008686654036864638, 0.006364291999489069, -0.0009226282127201557, -0.14467334747314453, 0.005387582816183567, 0.0008735430892556906, 0.5621080994606018, -1.107150673866272, 0.543796181678772, -0.0011504855938255787, -9.58738019107841e-05, -9.58738019107841e-05, -0.7846311926841736], "max": [1.2294131517410278, -0.5336331129074097, -0.0003487409558147192, 1.5695538520812988, 0.13173383474349976, 0.039861928671598434, 0.6048294305801392, 1.3007899522781372, 0.2945236265659332, 0.00033922248985618353, 0.25686758756637573, 0.49587109684944153, 0.5331040024757385, 0.09674063324928284, 0.03787972405552864, 0.04096739739179611, 0.41853079199790955, 0.18390591442584991, 0.0524299219250679, 0.0410955473780632, 0.13091658055782318, 0.1824968308210373, 0.01871134527027607, 0.017862848937511444, 0.24111953377723694, 0.16984277963638306, 0.2459149807691574, 0.022728189826011658, 0.026912666857242584, 1.4135169982910156, -0.33543819189071655, -5.033374236518284e-06, 1.7381101846694946, 0.0586862713098526, -0.1131417527794838, 0.6943762898445129, 1.360472559928894, 0.2762031853199005, 0.1640671044588089, 0.22110134363174438, 0.4998127520084381, 1.1225347518920898, 0.11430245637893677, 0.30206769704818726, 0.37080439925193787, 1.245341420173645, 0.2698806822299957, 1.4318903684616089, 0.7495793104171753, 1.393641710281372, 0.29270055890083313, 1.514371395111084, 0.8889675736427307, 0.25036948919296265, 1.2988812923431396, 0.29025331139564514, 1.3664147853851318, 1.3108197450637817, 0.5631626844406128, -1.1066712141036987, 0.5444673299789429, 0.0003834952076431364, 9.58738019107841e-05, 0.1089126393198967, -0.5998823642730713], "mean": [1.1442101001739502, -0.6018749475479126, -0.22317519783973694, 1.1030775308609009, 0.03578544035553932, -0.0815083459019661, 0.44780275225639343, 1.2761257886886597, 0.2856858968734741, -0.15230733156204224, 0.21228639781475067, 0.4831394553184509, 0.4722108244895935, 0.08694843202829361, 0.0368221290409565, 0.038068097084760666, 0.3742976486682892, 0.17117811739444733, 0.05058632791042328, 0.03884856402873993, 0.1168898269534111, 0.16931936144828796, 0.01782957650721073, 0.016548339277505875, 0.1245715394616127, 0.15670455992221832, 0.2203659564256668, 0.02191438525915146, 0.02513303980231285, 1.2413198947906494, -0.5953838229179382, -0.21684598922729492, 1.2654117345809937, -1.3907119035720825, -0.36534586548805237, 0.030075378715991974, 1.2265137434005737, 0.0919736698269844, -0.012256946414709091, -0.08872217684984207, 0.1629156619310379, 0.9232423901557922, 0.0629986822605133, 0.1048414334654808, 0.19564130902290344, 1.1043034791946411, -0.03366515785455704, 1.2372448444366455, 0.4759196937084198, 1.2596232891082764, -0.08483754843473434, 1.3784756660461426, 0.6395083665847778, 0.05558646097779274, 1.1630194187164307, -0.10352930426597595, 0.865056574344635, 1.2148393392562866, 0.5626974105834961, -1.1068551540374756, 0.5440775156021118, -0.0007052564178593457, -1.2024308659874805e-07, 0.07748287171125412, -0.7377406358718872], "std": [0.04959263652563095, 0.056221816688776016, 0.020451875403523445, 0.09968141466379166, 0.04229527711868286, 0.11468678712844849, 0.03355354815721512, 0.12385423481464386, 0.030386142432689667, 0.038748323917388916, 0.023089533671736717, 0.0512930266559124, 0.07341203838586807, 0.016183406114578247, 0.005076809320598841, 0.005505017936229706, 0.07179625332355499, 0.032436784356832504, 0.008611435070633888, 0.007082986179739237, 0.023448891937732697, 0.030863817781209946, 0.002714847680181265, 0.0030603562481701374, 0.029767166823148727, 0.03115645796060562, 0.03127141296863556, 0.003745859954506159, 0.004693181719630957, 0.11256536841392517, 0.17110575735569, 0.022566797211766243, 0.17914313077926636, 0.3223660886287689, 0.121494822204113, 0.21514621376991272, 0.15612535178661346, 0.04811067506670952, 0.05837766453623772, 0.07288412004709244, 0.10203830152750015, 0.21542470157146454, 0.03142691031098366, 0.07365905493497849, 0.08826171606779099, 0.2163996696472168, 0.03098391555249691, 0.26702019572257996, 0.128902405500412, 0.25298061966896057, 0.04676041007041931, 0.2906452417373657, 0.16933247447013855, 0.027004564180970192, 0.23278579115867615, 0.05156828835606575, 0.25410953164100647, 0.264534056186676, 4.835379513679072e-05, 3.774675860768184e-05, 6.833540828665718e-05, 0.00019277137471362948, 8.081558007688727e-06, 0.020105836912989616, 0.03411369398236275], "count": [2392]}, "observation.state.joint_torque": {"min": [-36.061500549316406, -10.009499549865723, -18.648000717163086, -8.006999969482422, -0.2863999903202057, -1.3783999681472778, 1.215999960899353, -0.6176608204841614, -0.31328776478767395, -0.6350144147872925, -0.3491957485675812, -0.11621791869401932, -0.4355967342853546, -0.6025435328483582, -0.09131408482789993, -0.04138316959142685, -0.3905019462108612, -0.2437039166688919, -0.09961536526679993, -0.032821137458086014, -0.23506876826286316, -0.4490292966365814, -0.10957689583301544, -0.032821137458086014, -0.1130288764834404, -0.17654143273830414, -0.47205638885498047, -0.05478844791650772, -0.033534638583660126, -2.7674999237060547, -6.020999908447266, -12.3100004196167, -7.4730000495910645, -2.533600091934204, -9.661600112915039, -3.1407999992370605, -1.7994943857192993, -0.7157224416732788, -0.4796781837940216, -0.8885230422019958, -0.15440380573272705, -0.5430567860603333, -0.8270581364631653, -0.11787818372249603, -0.0706368014216423, -1.5955890417099, -1.1542354822158813, -0.4615511894226074, -0.10345793515443802, -0.2859203517436981, -0.3147042691707611, -0.13116022944450378, -0.17338122427463531, -0.1618468016386032, -0.8078688383102417, -0.6639492511749268, -0.6408588290214539, -0.11558748036623001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.447500228881836, 9.421500205993652, -10.251999855041504, 1.309999942779541, 2.0383999347686768, 1.323199987411499, 2.8815999031066895, 0.6724225282669067, 0.2419702261686325, 0.4237571656703949, 0.36535072326660156, 0.08135254681110382, 0.36843425035476685, 0.3550017774105072, 0.1145576685667038, 0.019978083670139313, 0.393380343914032, 0.2177983820438385, 0.12783971428871155, 0.01212955079972744, 0.3175826370716095, 0.33677196502685547, 0.08467306196689606, 0.014983562752604485, 0.09367763251066208, 0.22451463341712952, 0.4432724714279175, 0.06973075866699219, 0.014983562752604485, 40.804500579833984, 9.536999702453613, 20.152999877929688, 3.865999937057495, 0.7383999824523926, 3.608799934387207, 3.7655999660491943, 2.6260135173797607, 5.016424655914307, 2.567396640777588, 1.3831135034561157, 0.8550319671630859, 2.141524314880371, 1.1753437519073486, 1.0592433214187622, 0.21405088901519775, 1.2760875225067139, 0.23123088479042053, 0.5146793723106384, 0.07349080592393875, 1.0237483978271484, 0.30415016412734985, 0.5096986293792725, 0.07135029137134552, 0.12006568908691406, 0.7723687291145325, 0.47301584482192993, 0.37687814235687256, 0.07420431077480316, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.960102081298828, 1.7412699460983276, -12.70809268951416, -1.4721115827560425, -0.05469391867518425, -0.09833908826112747, 1.724549412727356, -0.0006681727827526629, -0.0025651578325778246, 0.025094399228692055, 0.010570645332336426, 0.0013742942828685045, -0.009456644766032696, 0.005181595217436552, 0.00019573321333155036, -2.5951299903681502e-05, -0.009031454101204872, 0.009592214599251747, 0.00040673502371646464, -0.00012348988093435764, 0.0028427087236195803, 0.00527661619707942, 0.0005781750660389662, -0.00039642371120862663, -0.00505310483276844, 0.003987855277955532, -0.0016549836145713925, 9.161894558928907e-05, 0.00020283536287024617, 27.120946884155273, 0.9362015128135681, 12.344083786010742, -1.925109624862671, -0.5106546878814697, 1.3773910999298096, -0.7699331045150757, 0.5071398615837097, 1.8963181972503662, 0.4635852873325348, 0.13069327175617218, 0.18529972434043884, 1.0566855669021606, -0.04002753272652626, 0.5556141138076782, 0.11972133815288544, -0.11998270452022552, -0.2820858955383301, -0.002538969973102212, -0.0022884595673531294, -0.019673418253660202, -0.013801906257867813, 0.0006600756896659732, -0.0031875106506049633, 0.0006788270547986031, -0.026704542338848114, -0.008054370991885662, -0.022579342126846313, 0.003191365161910653, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7183036208152771, 0.9065268635749817, 0.8180069327354431, 0.6605668067932129, 0.20899511873722076, 0.3374902904033661, 0.16909655928611755, 0.03872130066156387, 0.02361879125237465, 0.057384222745895386, 0.05667746812105179, 0.010606692172586918, 0.06463509798049927, 0.05417564883828163, 0.007576522883027792, 0.004272778984159231, 0.048970550298690796, 0.04116426780819893, 0.010579169727861881, 0.0036794794723391533, 0.032399531453847885, 0.04533173888921738, 0.008230297826230526, 0.0038165892474353313, 0.013899224810302258, 0.020592566579580307, 0.04833121970295906, 0.005800177808851004, 0.0038931232411414385, 5.002158164978027, 2.161468267440796, 2.944643259048462, 1.7357242107391357, 0.40179285407066345, 1.2503554821014404, 0.6779996752738953, 0.8058025240898132, 1.7796845436096191, 0.5531189441680908, 0.3311854302883148, 0.19356052577495575, 0.8840488195419312, 0.28342342376708984, 0.48023420572280884, 0.09980654716491699, 0.2929016947746277, 0.2685377895832062, 0.030965391546487808, 0.008798366412520409, 0.07615645229816437, 0.06467421352863312, 0.027322517707943916, 0.010144846513867378, 0.024718964472413063, 0.13288290798664093, 0.10604221373796463, 0.049264371395111084, 0.007902039214968681, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2392]}, "observation.state.tcp": {"min": [0.3618144392967224, 0.18902850151062012, 0.9448336362838745, -1.224549412727356, 1.2182763814926147, -1.5545238256454468, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2636568546295166, -0.2762067914009094, 0.9467020034790039, -0.6571330428123474, 1.2178359031677246, 0.3510797619819641, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42371466755867004, 0.22513005137443542, 1.0517171621322632, -0.8487042784690857, 1.6751097440719604, -1.2294025421142578, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4679471552371979, -0.04043468087911606, 1.1436606645584106, 1.208847999572754, 1.8921949863433838, 1.60303795337677, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41547349095344543, 0.20386792719364166, 0.990772545337677, -1.1403558254241943, 1.604957103729248, -1.4979121685028076, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40121281147003174, -0.14489276707172394, 1.0515168905258179, -0.27611348032951355, 1.6501011848449707, 0.6972395181655884, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007884775288403034, 0.008093520998954773, 0.028377652168273926, 0.0762280821800232, 0.06884421408176422, 0.04509062319993973, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0559268556535244, 0.06280998885631561, 0.04893414303660393, 0.2912827432155609, 0.12207488715648651, 0.20266854763031006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2392]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.22597454488277435, 0.994670033454895, -0.13646581768989563, -0.7699999809265137, 0.40832749009132385, 0.0, 0.0, -0.2563425898551941, 0.0, 0.0, 0.0, -0.032729774713516235, 0.0, 0.0, 0.0, -0.020116373896598816, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9792008399963379, -1.020054817199707, -0.24322135746479034, 1.016369104385376, -1.7947263717651367, -0.7684705257415771, -0.3331863284111023, 0.0, -0.07345256954431534, -0.19926632940769196, -0.23633192479610443, 0.0, 0.0, -0.10821814835071564, 0.0, 0.0, 0.0, -0.07852362096309662, 0.0, 0.0, 0.0, -0.1221163421869278, 0.0, 0.0, 0.0, 0.0, -0.14333178102970123, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.544070839881897, -0.0011031689355149865, -2.1530233425437473e-05, 2.3501425429938095e-18, -0.784719705581665], "max": [1.229899287223816, -0.5336365103721619, 0.0, 1.5700000524520874, 0.13223226368427277, 0.03985534608364105, 0.6049544811248779, 1.3118476867675781, 0.2936829626560211, 0.0, 0.2586052715778351, 0.5024642944335938, 0.5380259156227112, 0.09506855905056, 0.045436110347509384, 0.04425806924700737, 0.4223262667655945, 0.186314657330513, 0.05906384438276291, 0.044745828956365585, 0.13218268752098083, 0.18716755509376526, 0.02319135144352913, 0.02132049947977066, 0.26180002093315125, 0.17532850801944733, 0.25096893310546875, 0.03274697810411453, 0.030448898673057556, 1.4135395288467407, -0.33542513847351074, -0.001860849210061133, 1.738564133644104, 0.05877455323934555, -0.1131499782204628, 0.6946043968200684, 1.3541111946105957, 0.29203757643699646, 0.19436977803707123, 0.24939072132110596, 0.5047144293785095, 1.1789809465408325, 0.1131780743598938, 0.40289491415023804, 0.379249632358551, 1.252271056175232, 0.2761496603488922, 1.436171531677246, 0.7501702904701233, 1.3958256244659424, 0.29528552293777466, 1.518061637878418, 0.8910890817642212, 0.26180002093315125, 1.307085394859314, 0.29342690110206604, 1.3715025186538696, 1.3981040716171265, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 0.0004181528347544372, 1.2827185855712742e-05, 0.10943814367055893, -0.6000000238418579], "mean": [1.1442787647247314, -0.6019027829170227, -0.22320321202278137, 1.1031097173690796, 0.03574042022228241, -0.0815887376666069, 0.44783809781074524, 1.2862474918365479, 0.28697338700294495, -0.14883257448673248, 0.21394114196300507, 0.4884248971939087, 0.4738297462463379, 0.08757349848747253, 0.04166317731142044, 0.040669750422239304, 0.375515341758728, 0.17258845269680023, 0.052651431411504745, 0.0412093847990036, 0.1176411584019661, 0.17419183254241943, 0.021412372589111328, 0.019683070480823517, 0.12681834399700165, 0.16109372675418854, 0.2225991189479828, 0.03037668578326702, 0.028590431436896324, 1.2423217296600342, -0.5963671207427979, -0.2168850153684616, 1.2661277055740356, -1.3911411762237549, -0.3660300672054291, 0.030346432700753212, 1.232712984085083, 0.10279180109500885, -0.01217917911708355, -0.08851824700832367, 0.16366265714168549, 0.9378476142883301, 0.06049061939120293, 0.11182038486003876, 0.2397850900888443, 1.101764440536499, -0.0338933952152729, 1.2352067232131958, 0.47548186779022217, 1.257238507270813, -0.0843968465924263, 1.3767476081848145, 0.6391739845275879, 0.05611589923501015, 1.1611273288726807, -0.10324393212795258, 0.862483024597168, 1.2451893091201782, 0.5626977682113647, -1.1068615913391113, 0.5441316962242126, -0.0007521006045863032, -1.5626045524186338e-07, 0.0775364488363266, -0.7378008365631104], "std": [0.0496019683778286, 0.05622454732656479, 0.020353062078356743, 0.09965530037879944, 0.04243585467338562, 0.11485326290130615, 0.03363147750496864, 0.13782748579978943, 0.03367321565747261, 0.04012644663453102, 0.027036864310503006, 0.057129256427288055, 0.07262483984231949, 0.015155394561588764, 0.005870976950973272, 0.0056832656264305115, 0.07034245878458023, 0.030459940433502197, 0.009518826380372047, 0.00737600727006793, 0.022893350571393967, 0.03035828284919262, 0.004070442635565996, 0.0037465672940015793, 0.03075527772307396, 0.031153976917266846, 0.03190970420837402, 0.005687551572918892, 0.005374272353947163, 0.1125275194644928, 0.1718321591615677, 0.022448590025305748, 0.1798345297574997, 0.3227306008338928, 0.12182526290416718, 0.21554158627986908, 0.16506639122962952, 0.05651284009218216, 0.05979642644524574, 0.07412996143102646, 0.1039649099111557, 0.22452715039253235, 0.028452059254050255, 0.0842171385884285, 0.10596375912427902, 0.21702861785888672, 0.031663134694099426, 0.26800256967544556, 0.12924249470233917, 0.2532147169113159, 0.04672602191567421, 0.29166847467422485, 0.16965043544769287, 0.03058793768286705, 0.23294328153133392, 0.05171097442507744, 0.2544572055339813, 0.27678728103637695, 1.4339442714117467e-05, 4.2263336581527255e-06, 2.479589602444321e-05, 0.000186862307600677, 6.75426417728886e-06, 0.020135408267378807, 0.03415990620851517], "count": [2392]}, "observation.state.tcp_pose": {"min": [0.3618144392967224, 0.18902850151062012, 0.9448336362838745, -1.224549412727356, 1.2182763814926147, -1.5545238256454468, 0.2636568546295166, -0.2762067914009094, 0.9467020034790039, -0.6571330428123474, 1.2178359031677246, 0.3510797619819641], "max": [0.42371466755867004, 0.22513005137443542, 1.0517171621322632, -0.8487042784690857, 1.6751097440719604, -1.2294025421142578, 0.4679471552371979, -0.04043468087911606, 1.1436606645584106, 1.208847999572754, 1.8921949863433838, 1.60303795337677], "mean": [0.41547349095344543, 0.20386792719364166, 0.990772545337677, -1.1403558254241943, 1.604957103729248, -1.4979121685028076, 0.40121281147003174, -0.14489276707172394, 1.0515168905258179, -0.27611348032951355, 1.6501011848449707, 0.6972395181655884], "std": [0.007884775288403034, 0.008093520998954773, 0.028377652168273926, 0.0762280821800232, 0.06884421408176422, 0.04509062319993973, 0.0559268556535244, 0.06280998885631561, 0.04893414303660393, 0.2912827432155609, 0.12207488715648651, 0.20266854763031006], "count": [2392]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.1886577159166336, 0.9447945356369019, -1.2246471643447876, 1.2178406715393066, -1.5544847249984741, 0.2629626989364624, -0.27861741185188293, 0.9467238783836365, -0.657225489616394, 1.2180078029632568, 0.3510217070579529], "max": [0.42370864748954773, 0.22515518963336945, 1.0518072843551636, -0.8483666181564331, 1.6749982833862305, -1.2289543151855469, 0.4679143726825714, -0.040404971688985825, 1.1436007022857666, 1.2071020603179932, 1.8925355672836304, 1.6052436828613281], "mean": [0.415487676858902, 0.203878715634346, 0.9907705187797546, -1.140297770500183, 1.6048853397369385, -1.4978936910629272, 0.4012766182422638, -0.14519280195236206, 1.052069902420044, -0.27664709091186523, 1.6481237411499023, 0.6969049572944641], "std": [0.007857004180550575, 0.008126621134579182, 0.02840556390583515, 0.07638302445411682, 0.0689830482006073, 0.04511608928442001, 0.05593099817633629, 0.06307489424943924, 0.04911940172314644, 0.2915150225162506, 0.123694509267807, 0.20210999250411987], "count": [2392]}, "subtask_index": {"min": [54], "max": [1993], "mean": [1926.857441471572], "std": [279.6210798966182], "count": [2392]}, "observation.tactile": {"min": [-0.012371824122965336, -4.2830750317079946e-05, -9.450544894207269e-05, -0.0018141987966373563, -6.123811908764765e-05, -0.0003015480760950595, -0.003550272434949875, -4.6878765715518966e-05, -0.00010820025636348873, -0.00030520011205226183, -6.341464177239686e-05, -6.435525574488565e-05, -0.01706709712743759, -4.7379438910866156e-05, -0.00010498018673388287, -0.0011237568687647581, -6.967964873183519e-05, -0.00033233428257517517, -0.009598326869308949, -3.522815677570179e-05, -7.696589455008507e-05, -0.0013401353498920798, -1.5655215975129977e-05, -0.00024307990679517388, -0.009128756821155548, -5.0000428018392995e-05, -0.00011326784442644566, -0.0013924217782914639, -6.543684867210686e-05, -0.00021489655773621053, -13.871625900268555, -3.963653216487728e-05, -8.87945425347425e-05, -0.4287233054637909, -0.019689371809363365, -0.21956226229667664, -7.154481410980225, -0.14056745171546936, -0.00010189078602707013, -0.2695115804672241, -0.05437847971916199, -0.09639157354831696, -0.008905582129955292, -4.6199940697988495e-05, -0.00010223408753518015, -0.0014931377954781055, -4.1750910895643756e-05, -0.00018965591152664274, -0.010451573878526688, -5.146540570422076e-05, -0.00011641925084404647, -0.004285996314138174, -4.913801603834145e-05, -0.00025045618531294167, -0.16441592574119568, -4.453070505405776e-05, -9.95863665593788e-05, -0.001092728110961616, -0.00022188019647728652, -0.002661334816366434], "max": [0.0029618116095662117, 0.027701091021299362, 0.07665979862213135, 1.791454906197032e-06, 0.00023189961211755872, 7.042919605737552e-06, 0.00034401786979287863, 0.005781348329037428, 0.016159795224666595, 1.852365812737844e-06, 2.767523255897686e-05, 6.741650850017322e-06, 0.0022207212168723345, 0.019299644976854324, 0.056503865867853165, 1.9719097963388776e-06, 0.00010691953502828255, 4.088645800948143e-05, 0.0006313396152108908, 0.019905846565961838, 0.05754533410072327, 1.4454242318606703e-06, 0.00010470751294633374, 5.7857764659274835e-06, 0.010692168958485126, 0.023264238610863686, 0.06739646941423416, 2.117157009706716e-06, 0.00031864969059824944, 0.00010647645103745162, 12.749996185302734, 25.0068359375, 23.985971450805664, 1.6122780834848527e-06, 0.06784699112176895, 0.16449911892414093, 0.5958313941955566, 8.849186897277832, 16.248987197875977, 1.9321607851452427e-06, 0.019478030502796173, 0.031106479465961456, 0.020280567929148674, 0.021300949156284332, 0.06641033291816711, 1.8687318288357346e-06, 0.00029216002440080047, 0.00022050422558095306, 0.1654830276966095, 0.09239495545625687, 0.27046871185302734, 2.1527951048483374e-06, 0.0014651822857558727, 0.002046635141596198, 0.0044108503498137, 0.02094903774559498, 0.05057888850569725, 1.8432771184961894e-06, 0.0001240112615050748, 6.05204731982667e-05], "mean": [-0.0007063740049488842, 0.0023368587717413902, 0.006905301474034786, -0.00011392492160666734, 1.4398977327800822e-05, -1.654168954701163e-05, 0.00025104451924562454, 0.0001670477504376322, 0.0005281136254779994, -8.490718755638227e-06, -3.122980842817924e-07, 4.670834186981665e-06, -0.00018799665849655867, 0.0009768636664375663, 0.002893991069868207, -4.635915320250206e-05, -5.05501020597876e-07, -2.2964713934925385e-06, -1.6179887097678147e-05, 0.0005091198836453259, 0.0015082716709002852, -2.5704450308694504e-05, 9.349853939966124e-07, -2.062699344662633e-08, 1.1506565897434484e-05, 0.0008250643732026219, 0.002412560861557722, -3.9199523598654196e-05, 2.365760792599758e-06, 4.961351010024373e-07, 3.3764002323150635, 4.068277835845947, 9.635189056396484, -0.16061712801456451, 0.014893919229507446, 0.05007588118314743, -2.3506410121917725, 0.9998518824577332, 6.077470302581787, -0.09272455424070358, -0.0065033347345888615, -0.035003408789634705, -0.00016379768203478307, 0.005663044285029173, 0.016798656433820724, -0.00037035273271612823, 4.6433509851340204e-05, -2.0604351448128e-05, 0.00013105962716508657, 0.002002004999667406, 0.005941175390034914, -0.00011657029972411692, 1.373933810100425e-05, -3.6984181406296557e-06, -5.010809036321007e-05, 0.0024065179750323296, 0.006993994582444429, -0.00014609812933485955, 1.9525603420333937e-05, -7.760383596178144e-06], "std": [0.0018422453431412578, 0.004095236770808697, 0.01186132337898016, 0.00022872924455441535, 2.9917388019384816e-05, 4.400484249345027e-05, 0.00019868325034622103, 0.000507882097736001, 0.001496120821684599, 2.4615470465505496e-05, 4.258184617356164e-06, 3.856640887534013e-06, 0.0012333871563896537, 0.001974728424102068, 0.0058112372644245625, 0.00011121541319880635, 1.1676886060740799e-05, 2.4954631953733042e-05, 0.0007216776139102876, 0.0015953313559293747, 0.004649509210139513, 9.045984188560396e-05, 8.370646355615463e-06, 1.582829099788796e-05, 0.0009064339101314545, 0.0019507294055074453, 0.005637418013066053, 0.00010231607302557677, 1.6567459169891663e-05, 1.8340750102652237e-05, 3.8086845874786377, 3.9180681705474854, 7.886425018310547, 0.13365566730499268, 0.02071353793144226, 0.057450681924819946, 2.1193888187408447, 1.2739803791046143, 5.0653181076049805, 0.07841969281435013, 0.013424229808151722, 0.03180284798145294, 0.001277902047149837, 0.004030268639326096, 0.011820055544376373, 0.00026625089230947196, 3.493966505629942e-05, 2.3050792151479982e-05, 0.006146151572465897, 0.0044204010628163815, 0.012678483501076698, 0.00023599393898621202, 5.368922575144097e-05, 7.922366057755426e-05, 0.0034117638133466244, 0.003000161610543728, 0.008613183163106441, 0.0001828090171329677, 2.6567275199340656e-05, 5.63140565645881e-05], "count": [2392]}, "timestamp": {"min": [0.0], "max": [79.7], "mean": [39.85], "std": [23.017028720299916], "count": [2392]}, "frame_index": {"min": [0], "max": [2391], "mean": [1195.5], "std": [690.5108616089974], "count": [2392]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [2392]}, "index": {"min": [94366], "max": [96757], "mean": [95561.5], "std": [690.5108616089974], "count": [2392]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2392]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5620573163032532]], [[0.5627099275588989]], [[0.5636046528816223]]], "std": [[[0.3002933859825134]], [[0.29943642020225525]], [[0.3001297414302826]]], "count": [2392]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3005249798297882]], [[0.3048635423183441]], [[0.3033944070339203]]], "std": [[[0.18066008388996124]], [[0.18144215643405914]], [[0.1822589635848999]]], "count": [2392]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.309989333152771]], [[0.3139565587043762]], [[0.3122871518135071]]], "std": [[[0.18485601246356964]], [[0.18475878238677979]], [[0.1853702962398529]]], "count": [2392]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5672040581703186]], [[0.5675289034843445]], [[0.5679442286491394]]], "std": [[[0.30687010288238525]], [[0.30636975169181824]], [[0.30730631947517395]]], "count": [2392]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176652908325]], [[0.6941176652908325]], [[0.6941176652908325]]], "mean": [[[0.00507763959467411]], [[0.00507763959467411]], [[0.00507763959467411]]], "std": [[[0.04612847417593002]], [[0.04612847417593002]], [[0.04612847417593002]]], "count": [2392]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4919135868549347]], [[0.4919135868549347]], [[0.4919135868549347]]], "std": [[[0.22224871814250946]], [[0.22224871814250946]], [[0.22224871814250946]]], "count": [2392]}}}
+{"episode_index": 37, "stats": {"observation.state": {"min": [1.0499998331069946, -0.7800000309944153, -0.22578927874565125, 0.9827473163604736, -0.0, -0.7699997425079346, 0.37122297286987305, 0.006906740367412567, -0.00021789655147586018, -0.23337528109550476, 0.0015320878010243177, 0.0034942172933369875, 0.003937292844057083, -0.03797831013798714, 0.003461951855570078, 0.000850485113915056, -0.00106000283267349, -0.005540911573916674, 0.006842709146440029, 0.0008433902985416353, -0.0035371852573007345, -0.0018663504160940647, 0.002785800490528345, 0.0008518153917975724, 0.0055786557495594025, -0.0028802338056266308, 0.006844756659120321, 0.0023975539952516556, 0.000854919315315783, 0.9378373622894287, -1.0595728158950806, -0.24265706539154053, 1.0008444786071777, -1.787222981452942, -0.7695484161376953, -0.2842618525028229, 0.0055614192970097065, -0.1622801125049591, -0.24765121936798096, -0.13882355391979218, 0.0032747427467256784, 0.004959762562066317, -0.1519370675086975, 0.0035736393183469772, 0.0008110204944387078, -0.0004359206941444427, -0.11106673628091812, 0.006415460724383593, 0.0008633443503640592, -0.0004062404914293438, -0.1323440819978714, 0.0038395614828914404, 0.0008597970008850098, 0.006436005234718323, -0.0013803864130750299, -0.15525345504283905, 0.005695343483239412, 0.0008664483320899308, 0.5624915957450867, -1.1069588661193848, 0.5436044335365295, -0.0023009711876511574, -9.58738019107841e-05, -0.0001917476038215682, -0.7949855327606201], "max": [1.2712067365646362, -0.5351372361183167, -2.396844820395927e-07, 1.5700000524520874, 0.2568713128566742, 0.18677282333374023, 0.584123432636261, 1.2757428884506226, 0.29421281814575195, 0.0004024831869173795, 0.24309568107128143, 0.5226767063140869, 0.3170580267906189, 0.06206889450550079, 0.02619829587638378, 0.027015095576643944, 0.16668929159641266, 0.14282560348510742, 0.030300233513116837, 0.022278008982539177, 0.02370520681142807, 0.1628061980009079, 0.0028386302292346954, 0.003779736580327153, 0.2410231977701187, 0.09193811565637589, 0.2263629287481308, 0.018773749470710754, 0.01774268038570881, 1.4551383256912231, -0.31219959259033203, -0.0001753292017383501, 1.7381596565246582, 0.13789373636245728, -0.0687924474477768, 0.6184556484222412, 1.3386821746826172, 0.2383120357990265, 0.23799577355384827, 0.2779592275619507, 0.6616058349609375, 1.1948261260986328, 0.09216232597827911, 0.7173764109611511, 0.5680544376373291, 1.3712170124053955, 0.14996302127838135, 1.3426282405853271, 0.5073165893554688, 1.3614681959152222, 0.19396428763866425, 1.526930332183838, 1.0078953504562378, 0.24977007508277893, 1.2257307767868042, 0.18448534607887268, 1.37124502658844, 1.3081790208816528, 0.5628750920295715, -1.106767177581787, 0.5443714261054993, 0.0, 0.0, 0.20536167919635773, -0.5814746022224426], "mean": [1.17783522605896, -0.5981931090354919, -0.22296911478042603, 1.085555911064148, 0.1417820304632187, 0.017474796622991562, 0.45828860998153687, 1.2320929765701294, 0.28368332982063293, -0.19696150720119476, 0.1783011555671692, 0.4773344099521637, 0.2640218436717987, 0.0434647835791111, 0.022807849571108818, 0.024149537086486816, 0.13879570364952087, 0.12905918061733246, 0.025495946407318115, 0.019327091053128242, 0.009583620354533195, 0.14124205708503723, 0.002812638645991683, 0.0015207411488518119, 0.17658109962940216, 0.061138130724430084, 0.19761128723621368, 0.01321145985275507, 0.013075820170342922, 1.2667491436004639, -0.5756347179412842, -0.21579287946224213, 1.25338876247406, -1.398596167564392, -0.3270612955093384, -0.01869356445968151, 1.1743072271347046, 0.04975883662700653, 0.026117311790585518, -0.041128452867269516, 0.17102551460266113, 0.9291578531265259, 0.04276145249605179, 0.15633535385131836, 0.25379613041877747, 1.1774556636810303, -0.06212425231933594, 1.1953837871551514, 0.33228564262390137, 1.243937611579895, -0.10217789560556412, 1.3717467784881592, 0.7293596863746643, 0.02462373673915863, 1.1320189237594604, -0.11980918794870377, 0.7791371941566467, 1.247261881828308, 0.5626960396766663, -1.1068583726882935, 0.5439342856407166, -0.001232624752447009, -1.0907144343264008e-07, 0.14606671035289764, -0.7378682494163513], "std": [0.036818765103816986, 0.04254171997308731, 0.019817771390080452, 0.08102919906377792, 0.020653480663895607, 0.14376595616340637, 0.03894318267703056, 0.11700451374053955, 0.0298131313174963, 0.027967415750026703, 0.04166832193732262, 0.05576601251959801, 0.04183383285999298, 0.01314510777592659, 0.003530095098540187, 0.003745653899386525, 0.029071157798171043, 0.02285023033618927, 0.004731784574687481, 0.0038314778357744217, 0.007779581937938929, 0.02494344674050808, 7.566497515654191e-06, 0.000293730670819059, 0.05599397048354149, 0.029368193820118904, 0.03207135200500488, 0.005667746067047119, 0.005020909011363983, 0.10876917839050293, 0.1690065562725067, 0.022728759795427322, 0.18375016748905182, 0.332966685295105, 0.12993893027305603, 0.1709674447774887, 0.14969193935394287, 0.07912414520978928, 0.09350942820310593, 0.07332855463027954, 0.13720446825027466, 0.21637068688869476, 0.029946139082312584, 0.15814034640789032, 0.13753056526184082, 0.2334461659193039, 0.025285542011260986, 0.2586471736431122, 0.0789855495095253, 0.25726616382598877, 0.03621767833828926, 0.2957943081855774, 0.23554733395576477, 0.03381998464465141, 0.23404350876808167, 0.041304703801870346, 0.2677217423915863, 0.2646227777004242, 4.156346039962955e-05, 3.67520515283104e-05, 0.00012043599417665973, 0.0003727056900970638, 3.2319849196937867e-06, 0.03708905726671219, 0.0382121242582798], "count": [2637]}, "observation.state.joint_torque": {"min": [-32.455501556396484, -17.888999938964844, -16.836000442504883, -11.237000465393066, -0.3391999900341034, -1.9911999702453613, 1.3919999599456787, -1.4047008752822876, -0.27762898802757263, -0.306944340467453, -0.36410802602767944, -0.11787818372249603, -0.5037187337875366, -0.4739753305912018, -0.08965382725000381, -0.039242662489414215, -0.25713640451431274, -0.25713640451431274, -0.11787818372249603, -0.0321076326072216, -0.25713640451431274, -0.42696160078048706, -0.0, -0.03567514568567276, -0.12182490527629852, -0.2916771173477173, -0.4432724714279175, -0.0979551151394844, -0.033534638583660126, -1.4865000247955322, -8.817000389099121, -9.78600025177002, -10.015999794006348, -2.8248000144958496, -7.5208001136779785, -3.7527999877929688, -0.9271280765533447, -0.7870399951934814, -1.0016077756881714, -1.2563591003417969, -0.13780125975608826, -0.8213013410568237, -1.1072217226028442, -0.19258970022201538, -0.0699232965707779, -0.7589362263679504, -1.6147782802581787, -0.15274357795715332, -0.03139413148164749, -0.9354776740074158, -0.6265301704406738, -0.12783971428871155, -0.05351272225379944, -0.22165974974632263, -0.4547860324382782, -0.6505168080329895, -0.13116022944450378, -0.04209667816758156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.277000427246094, 17.874000549316406, -11.442000389099121, 7.379000186920166, 2.0583999156951904, 1.1375999450683594, 2.315999984741211, 0.4584699273109436, 0.21904674172401428, 0.33552616834640503, 0.46103784441947937, 0.10957689583301544, 0.37802889943122864, 0.25905534625053406, 0.08135254681110382, 0.016410568729043007, 0.3386908769607544, 0.2907176613807678, 0.11787818372249603, 0.012843053787946701, 0.32333946228027344, 0.3885830342769623, 0.0016602561809122562, 0.009275538846850395, 0.060252752155065536, 0.31566372513771057, 0.4375157058238983, 0.09463459998369217, 0.013556556776165962, 38.52750015258789, 18.173999786376953, 20.246999740600586, 6.547999858856201, 0.6751999855041504, 3.3856000900268555, 3.414400100708008, 2.973686695098877, 4.666204929351807, 2.77119779586792, 1.2290198802947998, 0.7570767998695374, 2.1434431076049805, 0.6850574612617493, 1.0575830936431885, 0.21476440131664276, 0.7311117053031921, 0.2485012263059616, 0.6856857538223267, 0.13128454983234406, 0.5574487447738647, 0.2657715976238251, 0.6939870119094849, 0.15054912865161896, 0.12886172533035278, 0.46054285764694214, 0.4029749631881714, 0.7039486169815063, 0.13128454983234406, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.660913467407227, 1.6288588047027588, -12.914274215698242, -1.2496222257614136, 0.016477955505251884, -0.3087524473667145, 1.7013027667999268, 0.001973311183974147, -0.0018293983303010464, 0.01638638973236084, -0.004728533327579498, 0.004359380807727575, 0.008700702339410782, 0.011548039503395557, 0.0007926675607450306, 0.0002261995105072856, -0.001090087927877903, 0.004498585592955351, 0.001630666432902217, 5.70912889088504e-05, 0.012058214284479618, 0.013699979521334171, 1.259200757885992e-06, -0.004518564790487289, -0.003554931841790676, 0.005988892633467913, -2.6927624276140705e-05, 0.001142725464887917, -0.00020265979401301593, 27.53194236755371, 0.7098746299743652, 12.344484329223633, -1.7390522956848145, -0.4979631304740906, 1.4071285724639893, -0.708622395992279, 0.5803094506263733, 1.583048939704895, 0.5578827261924744, 0.06336066871881485, 0.17342984676361084, 0.8847668170928955, -0.17666484415531158, 0.48295843601226807, 0.1128445491194725, -0.04962943494319916, -0.24066752195358276, 0.001747144851833582, -0.0003696037456393242, -0.0057436879724264145, -0.01441342942416668, 0.0006573047139681876, -0.002392142778262496, -0.0009966811630874872, 0.009011019952595234, -0.006284364964812994, -0.013308500871062279, 0.00285969371907413, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6791324019432068, 1.0308597087860107, 0.5890691876411438, 0.7279463410377502, 0.2723444700241089, 0.35476383566856384, 0.17516960203647614, 0.03866836056113243, 0.019238637760281563, 0.05283375084400177, 0.0583418607711792, 0.011931667104363441, 0.06614021211862564, 0.054053183645009995, 0.006510344333946705, 0.0036429704632610083, 0.04174385219812393, 0.03463700786232948, 0.011546352878212929, 0.0029313659761101007, 0.04371192678809166, 0.06696762889623642, 4.570371311274357e-05, 0.007385630160570145, 0.011344900354743004, 0.026537807658314705, 0.05215824022889137, 0.006868001539260149, 0.0039029736071825027, 5.129148483276367, 2.096682548522949, 2.945289134979248, 1.7314413785934448, 0.3945373296737671, 1.2005994319915771, 0.6402751803398132, 0.7589751482009888, 1.544127345085144, 0.628091037273407, 0.36951759457588196, 0.17558956146240234, 0.8280114531517029, 0.3194564878940582, 0.4292124807834625, 0.09442007541656494, 0.16341562569141388, 0.28790172934532166, 0.028174279257655144, 0.008569282479584217, 0.07468847185373306, 0.05958203598856926, 0.030258826911449432, 0.01066135335713625, 0.01960788480937481, 0.11994190514087677, 0.08695921301841736, 0.04043436795473099, 0.006027677096426487, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2637]}, "observation.state.tcp": {"min": [0.36176592111587524, 0.19203996658325195, 0.9722719788551331, -1.2747188806533813, 1.2178406715393066, -1.7383979558944702, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2414257526397705, -0.2814929485321045, 0.9524102210998535, -0.769835889339447, 1.2045676708221436, 0.4409765303134918, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43370315432548523, 0.2308652400970459, 1.0638517141342163, -1.1438974142074585, 1.7064669132232666, -1.2289546728134155, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4794321358203888, -0.04117072746157646, 1.1609594821929932, 1.2086457014083862, 1.851981282234192, 1.6257277727127075, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4268190562725067, 0.20524078607559204, 1.0087212324142456, -1.2117449045181274, 1.549169659614563, -1.6242343187332153, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4100740849971771, -0.13942059874534607, 1.060770034790039, -0.2812421917915344, 1.6748214960098267, 0.6469516754150391, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007194260135293007, 0.008507780730724335, 0.019470715895295143, 0.024509312584996223, 0.08467669039964676, 0.0914980098605156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05615004152059555, 0.05851798504590988, 0.046919841319322586, 0.31919580698013306, 0.12164220958948135, 0.18140771985054016, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2637]}, "action": {"min": [1.0502406358718872, -0.7799028158187866, -0.22578279674053192, 0.9827467799186707, 0.0002805805124808103, -0.7697422504425049, 0.37125399708747864, 0.0, 0.0, -0.23371046781539917, 0.0, 0.0, 0.0, -0.04022225737571716, 0.0, 0.0, 0.0, -0.005388665944337845, 0.0, 0.0, 0.0, -0.011923872865736485, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9378415942192078, -1.0598087310791016, -0.24265658855438232, 1.000738501548767, -1.7872201204299927, -0.7695413827896118, -0.2843277156352997, 0.0, -0.16322249174118042, -0.24804343283176422, -0.14034830033779144, 0.0, 0.0, -0.1770169585943222, 0.0, 0.0, 0.0, -0.12471434473991394, 0.0, 0.0, 0.0, -0.13194602727890015, 0.0, 0.0, -9.600740646931172e-09, 0.0, -0.15215210616588593, 0.0, 0.0, 0.5625877380371094, -1.1068999767303467, 0.5437279939651489, -0.00228073145262897, -4.4461437937570736e-05, -3.896650014212355e-05, -0.7955628633499146], "max": [1.2717756032943726, -0.5351452231407166, -0.00024472104269079864, 1.5697461366653442, 0.2580060362815857, 0.18678179383277893, 0.5841583013534546, 1.2848663330078125, 0.29179370403289795, 0.0, 0.24822494387626648, 0.5271458029747009, 0.3268750011920929, 0.060582585632801056, 0.032027702778577805, 0.03176065534353256, 0.17511142790317535, 0.14447501301765442, 0.03489513322710991, 0.026708558201789856, 0.01971115730702877, 0.17005296051502228, 0.004810463171452284, 0.004738621413707733, 0.26180002093315125, 0.0922536849975586, 0.23418530821800232, 0.024066807702183723, 0.021868016570806503, 1.4551810026168823, -0.3121870160102844, -0.000455662258900702, 1.7383068799972534, 0.1377597451210022, -0.06759944558143616, 0.6209074854850769, 1.3418583869934082, 0.25829634070396423, 0.24150511622428894, 0.28274619579315186, 0.6655985116958618, 1.2092182636260986, 0.09185422956943512, 0.7216741442680359, 0.5735962986946106, 1.427390694618225, 0.1858593225479126, 1.3476879596710205, 0.5151947140693665, 1.3655036687850952, 0.1947091519832611, 1.5316356420516968, 1.0091215372085571, 0.26180002093315125, 1.2326664924621582, 0.2278599888086319, 1.3754470348358154, 1.40074622631073, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -2.5319948063150243e-21, 1.6420548490714282e-05, 0.2056872397661209, -0.5815209746360779], "mean": [1.1779192686080933, -0.5982159376144409, -0.22299142181873322, 1.0855923891067505, 0.14183154702186584, 0.01725670136511326, 0.45832309126853943, 1.2383849620819092, 0.28459474444389343, -0.19652889668941498, 0.17811176180839539, 0.4822049140930176, 0.2652427852153778, 0.04497135058045387, 0.02748153917491436, 0.027457986027002335, 0.1390797346830368, 0.13245515525341034, 0.028489895164966583, 0.022538604214787483, 0.008720849640667439, 0.14778821170330048, 0.002243751659989357, 0.0022155989427119493, 0.18391147255897522, 0.06228654459118843, 0.2044593244791031, 0.01759466715157032, 0.016389349475502968, 1.2676825523376465, -0.5763590931892395, -0.21581260859966278, 1.25393807888031, -1.398557424545288, -0.3275569677352905, -0.01857685297727585, 1.1782150268554688, 0.05608513578772545, 0.026714704930782318, -0.04115469008684158, 0.1713939905166626, 0.9376895427703857, 0.03693942725658417, 0.15937437117099762, 0.27976498007774353, 1.1772856712341309, -0.06275443732738495, 1.1950709819793701, 0.33215567469596863, 1.2434852123260498, -0.10305334627628326, 1.3708115816116333, 0.7292282581329346, 0.02310035191476345, 1.1325947046279907, -0.11999992281198502, 0.7775378227233887, 1.292912483215332, 0.5627015829086304, -1.1068682670593262, 0.5439807772636414, -0.0012806487502530217, 9.155407951766392e-07, 0.14610576629638672, -0.737923264503479], "std": [0.03684414550662041, 0.042527902871370316, 0.019708706066012383, 0.08106411248445511, 0.020641036331653595, 0.14431698620319366, 0.0389784537255764, 0.12943671643733978, 0.032694265246391296, 0.02949579432606697, 0.04455031454563141, 0.06043129786849022, 0.04369444027543068, 0.013842335902154446, 0.00394563190639019, 0.003895379602909088, 0.030050916597247124, 0.023939838632941246, 0.00566984573379159, 0.0044229780323803425, 0.0072510819882154465, 0.02739275060594082, 0.001824325299821794, 0.0018014623783528805, 0.06455521285533905, 0.03043777123093605, 0.03403317555785179, 0.006799214519560337, 0.006115991622209549, 0.10866943746805191, 0.16957879066467285, 0.022652076557278633, 0.18424132466316223, 0.3346978724002838, 0.13037371635437012, 0.17126892507076263, 0.1552830934524536, 0.08374568074941635, 0.09398777782917023, 0.0733521580696106, 0.1386127471923828, 0.21929940581321716, 0.030337855219841003, 0.15988405048847198, 0.14594091475009918, 0.23074503242969513, 0.027381785213947296, 0.2586379051208496, 0.0789688378572464, 0.25319740176200867, 0.035345517098903656, 0.2948538362979889, 0.23528258502483368, 0.037596751004457474, 0.23054009675979614, 0.041353918612003326, 0.2675170600414276, 0.27559158205986023, 1.8815095245372504e-05, 6.067309641366592e-06, 9.257677447749302e-05, 0.0003689845616463572, 8.197403985832352e-06, 0.037127114832401276, 0.03828310966491699], "count": [2637]}, "observation.state.tcp_pose": {"min": [0.36176592111587524, 0.19203996658325195, 0.9722719788551331, -1.2747188806533813, 1.2178406715393066, -1.7383979558944702, 0.2414257526397705, -0.2814929485321045, 0.9524102210998535, -0.769835889339447, 1.2045676708221436, 0.4409765303134918], "max": [0.43370315432548523, 0.2308652400970459, 1.0638517141342163, -1.1438974142074585, 1.7064669132232666, -1.2289546728134155, 0.4794321358203888, -0.04117072746157646, 1.1609594821929932, 1.2086457014083862, 1.851981282234192, 1.6257277727127075], "mean": [0.4268190562725067, 0.20524078607559204, 1.0087212324142456, -1.2117449045181274, 1.549169659614563, -1.6242343187332153, 0.4100740849971771, -0.13942059874534607, 1.060770034790039, -0.2812421917915344, 1.6748214960098267, 0.6469516754150391], "std": [0.007194260135293007, 0.008507780730724335, 0.019470715895295143, 0.024509312584996223, 0.08467669039964676, 0.0914980098605156, 0.05615004152059555, 0.05851798504590988, 0.046919841319322586, 0.31919580698013306, 0.12164220958948135, 0.18140771985054016], "count": [2637]}, "action.tcp_pose": {"min": [0.3618239760398865, 0.19206735491752625, 0.9722383618354797, -1.272985577583313, 1.2179306745529175, -1.7385777235031128, 0.2412548065185547, -0.2837265729904175, 0.9524314999580383, -0.7696657776832581, 1.2045469284057617, 0.4410783052444458], "max": [0.4337162971496582, 0.2308831661939621, 1.06388521194458, -1.1442487239837646, 1.7064340114593506, -1.229021668434143, 0.4792397916316986, -0.041184201836586, 1.1612015962600708, 1.2085813283920288, 1.8520002365112305, 1.6296288967132568], "mean": [0.4268403947353363, 0.205259770154953, 1.0087188482284546, -1.2118146419525146, 1.5490083694458008, -1.62409508228302, 0.4101676344871521, -0.1396477371454239, 1.061264991760254, -0.28119075298309326, 1.6729861497879028, 0.6467346549034119], "std": [0.007137798238545656, 0.008512867614626884, 0.019529443234205246, 0.024493200704455376, 0.08495739102363586, 0.09183336794376373, 0.0561121366918087, 0.0587645061314106, 0.04707559943199158, 0.32102832198143005, 0.12406115978956223, 0.1816181093454361], "count": [2637]}, "subtask_index": {"min": [54], "max": [2042], "mean": [1931.7963594994312], "std": [350.8063108690657], "count": [2637]}, "observation.tactile": {"min": [-0.020463183522224426, -4.302444358472712e-05, -9.461214358452708e-05, -0.001538955490104854, -5.014746420783922e-05, -0.0003892479289788753, -0.0041153631173074245, -5.020532989874482e-05, -0.00011481679393909872, -0.0004172151384409517, -4.0290924516739324e-05, -6.523444608319551e-05, -0.010637323372066021, -4.4729506043950096e-05, -9.872243390418589e-05, -0.0012321587419137359, -2.9677088605239987e-05, -0.00023033110483083874, -0.026519302278757095, -3.327054582769051e-05, -7.241826824611053e-05, -0.0024706250987946987, -2.677381780813448e-05, -0.0005813679890707135, -0.007982372306287289, -4.824743155040778e-05, -0.00010896148160099983, -0.0011830651201307774, -4.71648781967815e-05, -0.0001963005488505587, -6.761104106903076, -3.6090095818508416e-05, -8.227286161854863e-05, -0.40166589617729187, -0.03187119960784912, -0.1367156058549881, -9.12501049041748, -0.578029215335846, -9.975604189094156e-05, -0.2672501802444458, -0.026952669024467468, -0.1451299786567688, -0.012686852365732193, -5.1352537411730736e-05, -0.00011477903899503872, -0.0018037207191810012, -3.662842937046662e-05, -0.0002837653737515211, -0.016757946461439133, -4.971097223460674e-05, -0.00011193209502380341, -0.001393345301039517, -6.928368384251371e-05, -0.0003582209756132215, -0.009663857519626617, -4.095597978448495e-05, -9.082171163754538e-05, -0.0011474110651761293, -0.00010068550909636542, -0.00017023728287313133], "max": [0.005899255163967609, 0.0275470819324255, 0.07885780185461044, 1.7911256691149902e-06, 0.0002911094925366342, 7.292434020200744e-06, 0.0024129911325871944, 0.008331145159900188, 0.026239590719342232, 1.94610493053915e-06, 0.00011494372301967815, 7.103644293238176e-06, 0.0066869319416582584, 0.01996808685362339, 0.05772579833865166, 1.8365877849646495e-06, 0.00016928631521295756, 7.900586206233129e-05, 0.005036249291151762, 0.038334108889102936, 0.11832333356142044, 1.3269881264932337e-06, 0.00032606933382339776, 4.145266575505957e-05, 0.001519684912636876, 0.02221446856856346, 0.06406699866056442, 2.0481666069827043e-06, 0.00015615126176271588, 7.896110219007824e-06, 7.411937713623047, 17.81553077697754, 23.557918548583984, 1.5049105286379927e-06, 0.08992915600538254, 0.1127539575099945, 4.558200359344482, 24.474130630493164, 18.51323699951172, 1.885000756374211e-06, 0.008514106273651123, 0.14984765648841858, 0.01616681180894375, 0.028819888830184937, 0.08510992676019669, 2.120143562933663e-06, 0.000323083542753011, 0.0002000843669520691, 0.024763841181993484, 0.02982449159026146, 0.08386296033859253, 2.0483307707763743e-06, 0.00029125172295607626, 0.0002688638342078775, 0.001094070845283568, 0.021314173936843872, 0.06251321732997894, 1.6664755548845278e-06, 7.762038876535371e-05, 1.0103245585924014e-05], "mean": [-0.001462913933210075, 0.002676768461242318, 0.008233179338276386, -0.00013267231406643987, 2.862179826479405e-06, -2.4186969312722795e-05, 0.00020109997421968728, 0.00021629051479976624, 0.0006725933635607362, -1.1184916729689576e-05, -5.80945027195412e-07, 3.82143298338633e-06, -7.101509254425764e-05, 0.0007089324644766748, 0.0021145290229469538, -3.943022602470592e-05, 7.62044180646626e-07, -1.3958020872451016e-06, -0.0027071740478277206, 0.005011978559195995, 0.014780519530177116, -0.0003004490863531828, 3.0637820600531995e-05, -6.429354834835976e-05, -7.866572559578344e-05, 0.0011421104427427053, 0.003353879787027836, -5.262739796307869e-05, 8.327317118528299e-06, -2.8967590424144873e-06, 1.4115045070648193, 4.4137349128723145, 9.565313339233398, -0.15976235270500183, 0.010995065793395042, 0.020976828411221504, -2.9751029014587402, 1.7703344821929932, 5.479030132293701, -0.08813309669494629, -0.00502070551738143, -0.04671315848827362, -0.0008851431193761528, 0.003961834590882063, 0.011804284527897835, -0.00024883312289603055, 1.6120753571158275e-05, -2.537203545216471e-05, 8.331527351401746e-05, 0.0034090348053723574, 0.010062603279948235, -0.00013987562851980329, 2.552940532041248e-05, -9.348787898488808e-06, -0.0007244531880132854, 0.003099981928244233, 0.009195089340209961, -0.000163075455930084, 2.006679324040306e-06, -1.3129838407621719e-05], "std": [0.002595488214865327, 0.003936829511076212, 0.011880310252308846, 0.00021509836369659752, 2.3487096768803895e-05, 4.9028090870706365e-05, 0.0003094979911111295, 0.0006674246396869421, 0.0019771012011915445, 3.295482019893825e-05, 3.926044882973656e-06, 6.091894647397567e-06, 0.0010802432661876082, 0.0020799394696950912, 0.006127064116299152, 0.00012332250480540097, 9.459263310418464e-06, 2.3205875550047494e-05, 0.004161483142524958, 0.0064939213916659355, 0.01916389726102352, 0.0004069202404934913, 4.489583443501033e-05, 9.647527622291818e-05, 0.0009279853547923267, 0.002314002253115177, 0.006720995996147394, 0.0001090083023882471, 2.0930394384777173e-05, 1.9945309759350494e-05, 2.1925902366638184, 3.995267629623413, 7.5241827964782715, 0.12948518991470337, 0.0257608350366354, 0.04115303233265877, 2.555119752883911, 3.080674171447754, 4.530434608459473, 0.07243908196687698, 0.0060792057774960995, 0.043834563344717026, 0.0020941768307238817, 0.0052925534546375275, 0.015637490898370743, 0.0003361994749866426, 3.0019666155567393e-05, 4.336004349170253e-05, 0.0017747873207554221, 0.004463114310055971, 0.013090506196022034, 0.00019076278840657324, 4.455219823285006e-05, 2.9708586225751787e-05, 0.001247188076376915, 0.003823315491899848, 0.01123138889670372, 0.00020195967226754874, 1.4681178981845733e-05, 2.14410392800346e-05], "count": [2637]}, "timestamp": {"min": [0.0], "max": [87.86666666666666], "mean": [43.93333333333334], "std": [25.374542506366637], "count": [2637]}, "frame_index": {"min": [0], "max": [2636], "mean": [1318.0], "std": [761.2362751909992], "count": [2637]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [2637]}, "index": {"min": [96758], "max": [99394], "mean": [98076.0], "std": [761.2362751909992], "count": [2637]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2637]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5602502226829529]], [[0.56138676404953]], [[0.5625308752059937]]], "std": [[[0.3005369007587433]], [[0.2993220090866089]], [[0.29949501156806946]]], "count": [2637]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3016057312488556]], [[0.30569350719451904]], [[0.30379411578178406]]], "std": [[[0.18088091909885406]], [[0.18162201344966888]], [[0.18237195909023285]]], "count": [2637]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3105565309524536]], [[0.3141593933105469]], [[0.3119140565395355]]], "std": [[[0.18466892838478088]], [[0.18468527495861053]], [[0.18467186391353607]]], "count": [2637]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5655508637428284]], [[0.566379189491272]], [[0.5668595433235168]]], "std": [[[0.30690884590148926]], [[0.30597198009490967]], [[0.30648356676101685]]], "count": [2637]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6980392336845398]], [[0.6980392336845398]], [[0.6980392336845398]]], "mean": [[[0.004773385357111692]], [[0.004773385357111692]], [[0.004773385357111692]]], "std": [[[0.044357165694236755]], [[0.044357165694236755]], [[0.044357165694236755]]], "count": [2637]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4917127192020416]], [[0.4917127192020416]], [[0.4917127192020416]]], "std": [[[0.22197143733501434]], [[0.22197143733501434]], [[0.22197143733501434]]], "count": [2637]}}}
+{"episode_index": 38, "stats": {"observation.state": {"min": [1.050162672996521, -0.7799072861671448, -0.22396442294120789, 1.0403616428375244, -0.015808390453457832, -0.7692734003067017, 0.37331581115722656, 0.006755694281309843, -0.0002766163961496204, -0.24767471849918365, 0.00015853111108299345, 0.0034771980717778206, -0.0031829518266022205, -0.06152798607945442, 0.0034871259704232216, 0.0008212191751226783, -0.002912124851718545, -0.08361803740262985, 0.006845899857580662, 0.0008420600206591189, -0.0031567029654979706, -0.02693868800997734, 0.002694677794352174, 0.0008243231568485498, 0.005595781374722719, -0.0024622182827442884, -0.02600281313061714, 0.0023089132737368345, 0.0008575798710808158, 0.9926761984825134, -1.1140154600143433, -0.24275676906108856, 0.9832011461257935, -1.8030140399932861, -0.7697307467460632, -0.31776127219200134, 0.005588701460510492, -0.11066893488168716, -0.2162455916404724, -0.1447214037179947, 0.003266233252361417, 0.005836269818246365, -0.1181371808052063, 0.0037526935338974, 0.0007866322412155569, -0.003415263956412673, -0.08587934821844101, 0.005334043875336647, 0.0010784044861793518, -0.0008473152993246913, -0.11939447373151779, 0.0035491741728037596, 0.0008367390255443752, 0.006322548259049654, -0.002771310042589903, -0.13917236030101776, 0.005612021312117577, 0.0008540325216017663, 0.5625874400138855, -1.1069588661193848, 0.543796181678772, -0.0019174759509041905, -0.0001917476038215682, -0.0001917476038215682, -0.7568277716636658], "max": [1.2459826469421387, -0.5648183822631836, -0.00023764716752339154, 1.5696229934692383, 0.09602072089910507, 0.04359981045126915, 0.5649430751800537, 1.3517719507217407, 0.29719310998916626, -0.0035138202365487814, 0.2785605788230896, 0.6156275272369385, 0.5869024395942688, 0.10518141090869904, 0.04539468139410019, 0.045493416488170624, 0.549098789691925, 0.20755517482757568, 0.06992299109697342, 0.05007707700133324, 0.2006022334098816, 0.20038293302059174, 0.042049385607242584, 0.02702130377292633, 0.24895019829273224, 0.322208434343338, 0.26065516471862793, 0.1311325877904892, 0.061979878693819046, 1.4517042636871338, -0.30268344283103943, -9.611347923055291e-05, 1.7229342460632324, 0.029761623591184616, -0.04301701858639717, 0.6160596013069153, 1.3414740562438965, 0.2781815230846405, 0.2367248684167862, 0.23211820423603058, 0.3291119933128357, 1.122831106185913, 0.09289530664682388, 0.387228399515152, 0.4377732276916504, 1.2614619731903076, 0.20008857548236847, 1.408605694770813, 0.6440180540084839, 1.3954753875732422, 0.20968158543109894, 1.5298328399658203, 1.1203354597091675, 0.24195225536823273, 1.2721108198165894, 0.22751468420028687, 1.357252836227417, 1.3106361627578735, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 0.00028762139845639467, 0.17055949568748474, -0.5127331018447876], "mean": [1.1778908967971802, -0.6199270486831665, -0.22098572552204132, 1.1485562324523926, 0.041877806186676025, -0.10509799420833588, 0.4466654062271118, 1.277150273323059, 0.2869558036327362, -0.14626695215702057, 0.21904805302619934, 0.5742194652557373, 0.4626997709274292, 0.09212170541286469, 0.03382129594683647, 0.03512895852327347, 0.42576244473457336, 0.18029870092868805, 0.04934671148657799, 0.04053809493780136, 0.1478004902601242, 0.1719631552696228, 0.024802960455417633, 0.019805995747447014, 0.10238272696733475, 0.2683056890964508, 0.1882466971874237, 0.0491737462580204, 0.041018225252628326, 1.2524744272232056, -0.6240665316581726, -0.22217492759227753, 1.2817398309707642, -1.330286979675293, -0.31406715512275696, 0.04696165770292282, 1.205579161643982, 0.07485206425189972, 0.016595415771007538, -0.05544593930244446, 0.15011608600616455, 0.8898719549179077, 0.052729532122612, 0.16631311178207397, 0.1973806470632553, 1.1152344942092896, -0.042664676904678345, 1.2063302993774414, 0.38919496536254883, 1.219679832458496, -0.08327548950910568, 1.3394148349761963, 0.8052834272384644, 0.03523677587509155, 1.1276010274887085, -0.1015477403998375, 0.7664972543716431, 1.2348428964614868, 0.5626903772354126, -1.1068562269210815, 0.5440211892127991, -0.0008361373329535127, 1.6805222458060598e-07, 0.11345534026622772, -0.7043439745903015], "std": [0.043022703379392624, 0.042338501662015915, 0.020240550860762596, 0.08999871462583542, 0.01867898926138878, 0.11379702389240265, 0.03690351918339729, 0.15057387948036194, 0.03166481852531433, 0.04041716083884239, 0.02703147754073143, 0.08145703375339508, 0.08246148377656937, 0.021646622568368912, 0.005185360554605722, 0.005646741017699242, 0.12046760320663452, 0.03959062695503235, 0.011119751259684563, 0.009664749726653099, 0.055779725313186646, 0.03710312768816948, 0.008653456345200539, 0.006941832602024078, 0.04506890848278999, 0.09118682891130447, 0.03849198669195175, 0.015637800097465515, 0.01175966951996088, 0.11268020421266556, 0.18545375764369965, 0.024292752146720886, 0.19679905474185944, 0.3502626419067383, 0.128851979970932, 0.18725113570690155, 0.16519314050674438, 0.07265627384185791, 0.08547927439212799, 0.06830776482820511, 0.08771416544914246, 0.209716334939003, 0.027381815016269684, 0.10608451068401337, 0.08612710237503052, 0.23193195462226868, 0.028730984777212143, 0.2890765964984894, 0.1114920973777771, 0.2671073377132416, 0.041891589760780334, 0.3196450471878052, 0.24710845947265625, 0.028633156791329384, 0.24415864050388336, 0.04781772568821907, 0.28931403160095215, 0.28599321842193604, 4.447904211701825e-05, 5.1457838708302006e-05, 7.62449053581804e-05, 0.0002777230693027377, 9.830705494096037e-06, 0.04281648248434067, 0.0480801984667778], "count": [2282]}, "observation.state.joint_torque": {"min": [-32.237998962402344, -4.673999786376953, -17.43199920654297, -5.914000034332275, -0.5231999754905701, -0.6967999935150146, 1.076799988746643, -0.9844368100166321, -0.37569066882133484, -0.4299705922603607, -0.34298232197761536, -0.09629485011100769, -1.040059208869934, -0.7522199749946594, -0.09297433495521545, -0.039956167340278625, -0.6054219603538513, -0.3502044379711151, -0.13116022944450378, -0.0321076326072216, -0.5449756979942322, -0.5113944411277771, -0.09297433495521545, -0.033534638583660126, -0.10291345417499542, -0.3463665843009949, -0.47973212599754333, -0.12949997186660767, -0.032821137458086014, 7.198500156402588, -7.7820000648498535, -4.244999885559082, -7.546999931335449, -2.9944000244140625, -3.7832000255584717, -3.4272000789642334, -1.3104597330093384, -0.7883135080337524, -0.5728799104690552, -1.3222216367721558, -0.2025512456893921, -0.7100034952163696, -0.8683151602745056, -0.14610254764556885, -0.07349080592393875, -0.6658681631088257, -0.9824914336204529, -0.13448072969913483, -0.10345793515443802, -0.5996651649475098, -0.3031907081604004, -0.10459613054990768, -0.07848532497882843, -0.13106073439121246, -0.4826105237007141, -0.4116101562976837, -0.44826915860176086, -0.06778278201818466, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.577999114990234, 9.427499771118164, -11.541000366210938, 1.4329999685287476, 1.5872000455856323, 0.843999981880188, 2.7943999767303467, 0.5667197704315186, 0.23178201913833618, 0.36037999391555786, 0.36410802602767944, 0.1062563955783844, 0.4403941035270691, 0.2724878489971161, 0.08301279693841934, 0.026399608701467514, 0.3770694434642792, 0.42024531960487366, 0.151083305478096, 0.012843053787946701, 0.29743391275405884, 0.4048939049243927, 0.07305127382278442, 0.01712406985461712, 0.07300698012113571, 0.22643356025218964, 0.3741910755634308, 0.04980768263339996, 0.013556556776165962, 44.45399856567383, 10.833000183105469, 20.753000259399414, 2.1530001163482666, 0.5551999807357788, 4.128799915313721, 3.5759999752044678, 2.4782845973968506, 4.779548645019531, 2.536329507827759, 1.4104526042938232, 0.718890905380249, 2.141524314880371, 0.5785569548606873, 1.0592433214187622, 0.21405088901519775, 0.5775974988937378, 0.2820824682712555, 0.18262816965579987, 0.05351272225379944, 0.3722721338272095, 0.2935960590839386, 0.1411217600107193, 0.09346889704465866, 0.129301518201828, 0.5756785273551941, 0.3741910457611084, 0.2125127911567688, 0.05993425101041794, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.227523803710938, 1.5808684825897217, -13.229448318481445, -1.5332468748092651, -0.0017542168498039246, -0.10807757079601288, 1.740175485610962, 0.0017540333792567253, -0.004616956226527691, 0.033368054777383804, 0.018193263560533524, 0.001837054267525673, 0.025986650958657265, 0.013821396976709366, 2.255354047520086e-05, 0.00035143591230735183, 0.025329584255814552, -0.005604579579085112, -0.001595506095327437, 0.0003170425770804286, 0.01911190152168274, 0.012964950874447823, -0.0011604337487369776, -0.00015195495507214218, -0.00391484797000885, 0.008592716418206692, -0.0014072395861148834, -0.0031524505466222763, -0.0006731689209118485, 27.231786727905273, 1.1466783285140991, 12.65351676940918, -1.873105764389038, -0.46509623527526855, 1.436576247215271, -0.905422031879425, 0.4580264687538147, 1.6227072477340698, 0.4283114969730377, 0.10696014016866684, 0.1704585701227188, 0.7649694681167603, -0.06243835762143135, 0.4785066843032837, 0.11069376766681671, -0.049275755882263184, -0.18724015355110168, -0.004480942152440548, -0.0024115925189107656, -0.01603214628994465, -0.012690401636064053, -0.0041688308119773865, -0.003749818541109562, -0.0017137211980298162, -0.010536451824009418, -0.0007492392905987799, -0.02166481502354145, 0.0017424867255613208, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6914753317832947, 0.9394459128379822, 0.7091241478919983, 0.648325502872467, 0.21514169871807098, 0.331184059381485, 0.18459774553775787, 0.04652763530611992, 0.025026705116033554, 0.07346150279045105, 0.05895496532320976, 0.01110383216291666, 0.07510025054216385, 0.06793097406625748, 0.009145534597337246, 0.004903130233287811, 0.06787211447954178, 0.05294288322329521, 0.0159631185233593, 0.00433856388553977, 0.06062208488583565, 0.06977855414152145, 0.0074119651690125465, 0.004879998508840799, 0.013442302122712135, 0.03533279895782471, 0.05318671837449074, 0.01174517534673214, 0.005243252031505108, 4.487315654754639, 2.126199245452881, 2.085068464279175, 1.6791064739227295, 0.35724544525146484, 0.7825741171836853, 0.6148488521575928, 0.7585697770118713, 1.6804020404815674, 0.5693365335464478, 0.31639543175697327, 0.19806532561779022, 0.7906535267829895, 0.2189299613237381, 0.4511236250400543, 0.10102779418230057, 0.16749469935894012, 0.21748477220535278, 0.02755514346063137, 0.008417611010372639, 0.08179303258657455, 0.05420500412583351, 0.028051050379872322, 0.010317057371139526, 0.01970609463751316, 0.1347355842590332, 0.09087613970041275, 0.0437205545604229, 0.005770120769739151, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2282]}, "observation.state.tcp": {"min": [0.3618297874927521, 0.18784575164318085, 0.9667784571647644, -1.208839774131775, 1.218150019645691, -1.5678974390029907, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25354036688804626, -0.27401697635650635, 0.9458926320075989, -0.7615038156509399, 1.2179107666015625, 0.4044097363948822, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4250672459602356, 0.22771765291690826, 1.0557136535644531, -0.9833287596702576, 1.705355167388916, -1.2293323278427124, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4728204011917114, -0.05651049688458443, 1.1545002460479736, 1.208794116973877, 1.9620150327682495, 1.6193376779556274, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4185221195220947, 0.20072820782661438, 1.009658694267273, -1.1218996047973633, 1.5825515985488892, -1.513674020767212, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.400298148393631, -0.15508458018302917, 1.0525846481323242, -0.23958468437194824, 1.7036280632019043, 0.7183375954627991, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.006925738416612148, 0.00709580397233367, 0.025093426927924156, 0.05266115069389343, 0.07844044268131256, 0.04119133576750755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0579630583524704, 0.06390967220067978, 0.04816834628582001, 0.336442232131958, 0.12675176560878754, 0.20242254436016083, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2282]}, "action": {"min": [1.0511600971221924, -0.7793643474578857, -0.22396120429039001, 1.0403550863265991, -0.015801165252923965, -0.7678131461143494, 0.3719828426837921, 0.0, 0.0, -0.24971777200698853, 0.0, 0.0, 0.0, -0.0671183317899704, 0.0, 0.0, 0.0, -0.09286689758300781, 0.0, 0.0, 0.0, -0.11224249750375748, 0.0, 0.0, 0.0, 0.0, -0.08867321908473969, 0.0, 0.0, 0.9926775693893433, -1.1143078804016113, -0.24275124073028564, 0.9831655025482178, -1.802996277809143, -0.7682702541351318, -0.31778034567832947, 0.0, -0.11446688324213028, -0.2157633751630783, -0.14337141811847687, 0.0, 0.0, -0.12046926468610764, 0.0, 0.0, 0.0, -0.08638721704483032, 0.0, 0.0, 0.0, -0.12023237347602844, 0.0, 0.0, 0.0, 0.0, -0.13877180218696594, 0.0, 0.0, 0.5625879168510437, -1.1068999767303467, 0.5439654588699341, -0.0018955825362354517, -1.3582519386545755e-05, 4.636561573138371e-18, -0.7580317854881287], "max": [1.2459758520126343, -0.5648145079612732, -0.001378311775624752, 1.5683047771453857, 0.09606759250164032, 0.04360325261950493, 0.5652207732200623, 1.3646131753921509, 0.2961539924144745, 0.0, 0.2813122570514679, 0.6230658292770386, 0.5967448949813843, 0.10798464715480804, 0.050566330552101135, 0.04784192517399788, 0.5532985925674438, 0.20894509553909302, 0.08184260874986649, 0.051295310258865356, 0.20614726841449738, 0.20555560290813446, 0.04823196306824684, 0.029522819444537163, 0.26180002093315125, 0.33119627833366394, 0.2638530135154724, 0.1423417627811432, 0.06891174614429474, 1.4516969919204712, -0.30265742540359497, -0.0013099464122205973, 1.7232518196105957, 0.029772307723760605, -0.04302564635872841, 0.616657018661499, 1.3431923389434814, 0.2915867269039154, 0.23735365271568298, 0.2537417411804199, 0.33557912707328796, 1.1692655086517334, 0.0929211750626564, 0.3904075026512146, 0.4387088418006897, 1.3873090744018555, 0.22194652259349823, 1.4138026237487793, 0.6473971605300903, 1.399050235748291, 0.24043887853622437, 1.5366617441177368, 1.121148705482483, 0.26180002093315125, 1.2780689001083374, 0.2698463201522827, 1.3640080690383911, 1.4179248809814453, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -1.9811515276747733e-20, 1.4415552868740633e-05, 0.17220981419086456, -0.5089009404182434], "mean": [1.1779556274414062, -0.6199643611907959, -0.22100715339183807, 1.148593544960022, 0.041869208216667175, -0.1052531749010086, 0.4466741681098938, 1.287701964378357, 0.2871215045452118, -0.1433805674314499, 0.22130078077316284, 0.5808014869689941, 0.46749147772789, 0.09417897462844849, 0.03984818235039711, 0.039472129195928574, 0.4305625259876251, 0.18229101598262787, 0.05351035296916962, 0.04363483190536499, 0.14866605401039124, 0.17713592946529388, 0.026545165106654167, 0.0232931450009346, 0.09685232490301132, 0.2705521881580353, 0.19130709767341614, 0.04942254722118378, 0.04195660352706909, 1.253438949584961, -0.6248698234558105, -0.2221948206424713, 1.2824249267578125, -1.3302791118621826, -0.31476661562919617, 0.04713614284992218, 1.210726261138916, 0.08149053156375885, 0.01693519949913025, -0.055472396314144135, 0.15072549879550934, 0.8958002328872681, 0.05172751098871231, 0.17150846123695374, 0.21384507417678833, 1.1165369749069214, -0.0426299124956131, 1.205224633216858, 0.3891819715499878, 1.2198917865753174, -0.08289199322462082, 1.3390218019485474, 0.8055831789970398, 0.036079052835702896, 1.1283032894134521, -0.10159046947956085, 0.7656968832015991, 1.2760868072509766, 0.5626950860023499, -1.1068581342697144, 0.5440798997879028, -0.0008803093223832548, -1.7212782665865234e-07, 0.11350419372320175, -0.7044109106063843], "std": [0.043025508522987366, 0.042372170835733414, 0.020124152302742004, 0.08998366445302963, 0.018673086538910866, 0.1140807643532753, 0.0368979275226593, 0.16040286421775818, 0.03485638275742531, 0.04142087325453758, 0.030489852651953697, 0.08066539466381073, 0.08206483721733093, 0.020553750917315483, 0.00637560710310936, 0.006167531944811344, 0.1212400496006012, 0.03790583088994026, 0.013009781949222088, 0.010449143126606941, 0.055975791066884995, 0.03754785284399986, 0.009011458605527878, 0.007701713126152754, 0.051573388278484344, 0.0904214009642601, 0.0377018079161644, 0.014844246208667755, 0.011397333815693855, 0.11269170790910721, 0.18598070740699768, 0.024194905534386635, 0.19723506271839142, 0.3507096469402313, 0.12919694185256958, 0.18756645917892456, 0.17154406011104584, 0.07751407474279404, 0.08695948123931885, 0.06839106976985931, 0.0901481881737709, 0.21059973537921906, 0.02702469378709793, 0.11117605865001678, 0.09798041731119156, 0.22684527933597565, 0.030467210337519646, 0.2858985364437103, 0.11075244843959808, 0.2612881362438202, 0.04330696538090706, 0.3152271509170532, 0.24564215540885925, 0.03238905593752861, 0.23910200595855713, 0.04864342510700226, 0.28799596428871155, 0.2952066659927368, 1.252837319043465e-05, 6.625084097322542e-06, 4.826371150556952e-05, 0.0002722438657656312, 7.281390026037116e-06, 0.042844146490097046, 0.04816494137048721], "count": [2282]}, "observation.state.tcp_pose": {"min": [0.3618297874927521, 0.18784575164318085, 0.9667784571647644, -1.208839774131775, 1.218150019645691, -1.5678974390029907, 0.25354036688804626, -0.27401697635650635, 0.9458926320075989, -0.7615038156509399, 1.2179107666015625, 0.4044097363948822], "max": [0.4250672459602356, 0.22771765291690826, 1.0557136535644531, -0.9833287596702576, 1.705355167388916, -1.2293323278427124, 0.4728204011917114, -0.05651049688458443, 1.1545002460479736, 1.208794116973877, 1.9620150327682495, 1.6193376779556274], "mean": [0.4185221195220947, 0.20072820782661438, 1.009658694267273, -1.1218996047973633, 1.5825515985488892, -1.513674020767212, 0.400298148393631, -0.15508458018302917, 1.0525846481323242, -0.23958468437194824, 1.7036280632019043, 0.7183375954627991], "std": [0.006925738416612148, 0.00709580397233367, 0.025093426927924156, 0.05266115069389343, 0.07844044268131256, 0.04119133576750755, 0.0579630583524704, 0.06390967220067978, 0.04816834628582001, 0.336442232131958, 0.12675176560878754, 0.20242254436016083], "count": [2282]}, "action.tcp_pose": {"min": [0.36209455132484436, 0.18785317242145538, 0.9667298197746277, -1.2084795236587524, 1.2188420295715332, -1.5678365230560303, 0.25366973876953125, -0.2784716486930847, 0.9458215236663818, -0.7615031599998474, 1.2185109853744507, 0.4043678939342499], "max": [0.4250868856906891, 0.22839570045471191, 1.0556482076644897, -0.9834861755371094, 1.7052890062332153, -1.2298675775527954, 0.4727323055267334, -0.05648457631468773, 1.154267430305481, 1.207787275314331, 1.9621199369430542, 1.6206551790237427], "mean": [0.4185402989387512, 0.20074819028377533, 1.0096497535705566, -1.1219358444213867, 1.5824576616287231, -1.5135682821273804, 0.4003761410713196, -0.1553094983100891, 1.0531089305877686, -0.23958630859851837, 1.701950192451477, 0.718140184879303], "std": [0.006888107396662235, 0.007103275042027235, 0.025118321180343628, 0.05269521474838257, 0.07855719327926636, 0.04145517572760582, 0.05793897807598114, 0.06411267817020416, 0.04833001270890236, 0.3369043469429016, 0.1280193030834198, 0.20209087431430817], "count": [2282]}, "subtask_index": {"min": [54], "max": [2094], "mean": [1999.7134092900965], "std": [363.9279759488274], "count": [2282]}, "observation.tactile": {"min": [-0.008236756548285484, -4.30727559432853e-05, -9.459085413254797e-05, -0.0012498998548835516, -6.56284173601307e-05, -0.00021506653865799308, -0.008169655688107014, -5.036950096837245e-05, -0.00011454201739979908, -0.0004872139252256602, -8.554443411412649e-06, -0.00017245978233404458, -0.005710912868380547, -4.7964662371668965e-05, -0.00010668803588487208, -0.0011046535801142454, -6.351919000735506e-05, -0.0001331624953309074, -0.01636708527803421, -3.328408638481051e-05, -7.111790910130367e-05, -0.001136020990088582, -2.2001984689268284e-05, -0.00032616962562315166, -0.008736014366149902, -4.9761019909055904e-05, -0.00011306925443932414, -0.0007157958461903036, -9.855755706666969e-06, -0.0001728419738356024, -9.987906455993652, -3.527102307998575e-05, -8.220259769586846e-05, -0.21180693805217743, -0.01571478135883808, -0.19501981139183044, -6.723548412322998, -0.1852957308292389, -0.00010580990056041628, -0.21870490908622742, -0.03583930805325508, -0.118218794465065, -0.010464866645634174, -4.868577889283188e-05, -0.0001085846743080765, -0.0013182495022192597, -4.106764026801102e-05, -0.0002155379333999008, -0.009609673172235489, -5.450008393381722e-05, -0.00012096272257622331, -0.0022959981579333544, -6.75499250064604e-05, -0.00019256876839790493, -0.11938492208719254, -4.34768371633254e-05, -9.597154712537304e-05, -0.0016855585854500532, -0.0002755880996119231, -0.001841138699091971], "max": [0.0090518519282341, 0.021381881088018417, 0.06145397946238518, 1.785981794455438e-06, 0.0002884116838686168, 9.166297240881249e-05, 0.0015703850658610463, 0.009778049774467945, 0.02857985906302929, 1.9648186935228296e-06, 0.00017887513968162239, 7.1566209953743964e-06, 0.014020828530192375, 0.019866598770022392, 0.059676263481378555, 2.0030347513966262e-06, 0.0003072666877415031, 0.00013460115587804466, 0.0025996952317655087, 0.020198795944452286, 0.0592164471745491, 1.3164608390070498e-06, 0.00016600341768935323, 7.503459983126959e-06, 0.009452653117477894, 0.014962483197450638, 0.04535679891705513, 2.1313312572601717e-06, 0.00022648305457551032, 9.959530871128663e-05, 5.410494327545166, 14.454269409179688, 11.218402862548828, 1.5243626876326744e-06, 0.04327598959207535, 0.09347520768642426, 0.00033505892497487366, 13.520575523376465, 12.441134452819824, 1.994410240513389e-06, 0.0009218865889124572, 0.008719737641513348, 0.037113774567842484, 0.023580459877848625, 0.07068998366594315, 1.9907308796973666e-06, 0.00034060393227264285, 0.0005106099415570498, 0.133529394865036, 0.04753274843096733, 0.14875158667564392, 2.2201591036719037e-06, 0.0008156282710842788, 0.0019376780837774277, 0.00644157687202096, 0.028644781559705734, 0.0786515325307846, 1.7500517515145475e-06, 0.00019570428412407637, 6.264860712690279e-05], "mean": [3.5691537050297484e-05, 0.0017008415888994932, 0.004928350914269686, -8.594126120442525e-05, 1.459038321627304e-05, -3.217052380932728e-06, 0.0001571126631461084, 0.00023885727568995208, 0.000738577451556921, -1.2579570466186851e-05, -5.882305913473829e-07, 3.1084307465789607e-06, 0.0002821746747940779, 0.0007630710606463253, 0.0022950333077460527, -3.6247874959371984e-05, 5.237475761532551e-06, 3.952579390897881e-06, -0.0005356657202355564, 0.0012006501201540232, 0.003544005099684, -5.7444838603259996e-05, 5.041714757680893e-06, -1.0270357051922474e-05, 0.00020821712678298354, 0.001056890469044447, 0.0030783130787312984, -4.585629721987061e-05, 8.863667972036637e-06, 1.7975113451029756e-06, 1.3693795204162598, 2.208354949951172, 4.7119646072387695, -0.07899162173271179, 0.0066077327355742455, 0.020720064640045166, -2.1799662113189697, 1.003342628479004, 5.431860446929932, -0.08354471623897552, -0.007400460075587034, -0.032828979194164276, 0.0007567532593384385, 0.003035208908841014, 0.009172639809548855, -0.00014944026770535856, 3.182993532391265e-05, 9.964946912077721e-07, 6.408280751202255e-05, 0.0022863466292619705, 0.006889524403959513, -0.00011205390183022246, 1.603499003977049e-05, -5.097752818983281e-06, -0.0005823992541991174, 0.0026543494313955307, 0.007846962660551071, -0.00015589151007588953, 1.2793178029824048e-05, -1.549089211039245e-05], "std": [0.0011864493135362864, 0.003624899312853813, 0.010336484760046005, 0.00019540944776963443, 4.324714973336086e-05, 2.2513071598950773e-05, 0.00047377852024510503, 0.0008059649262577295, 0.002378975972533226, 4.1388451791135594e-05, 5.412157861428568e-06, 9.42708084039623e-06, 0.0009120272588916123, 0.002031483221799135, 0.006069986615329981, 0.00010335871047573164, 2.7287111151963472e-05, 1.275574049941497e-05, 0.0019651625771075487, 0.00283303065225482, 0.008277262561023235, 0.0001459642662666738, 1.7262960682273842e-05, 4.022118082502857e-05, 0.000752083258703351, 0.002135809976607561, 0.0061568100936710835, 9.531073010293767e-05, 2.707190469664056e-05, 1.2095099009457044e-05, 1.733473539352417, 2.1252079010009766, 4.044976711273193, 0.07053512334823608, 0.010308722034096718, 0.030436448752880096, 2.0244991779327393, 1.3328293561935425, 4.722256183624268, 0.07450474053621292, 0.006849106401205063, 0.0329759456217289, 0.0033019459806382656, 0.0038308261428028345, 0.01167368981987238, 0.00019693459034897387, 4.8560865252511576e-05, 4.569475640892051e-05, 0.004858051892369986, 0.00335294590331614, 0.010303271003067493, 0.00017651818052399904, 4.366401844890788e-05, 6.935261626495048e-05, 0.003317304188385606, 0.0035518682561814785, 0.010295016691088676, 0.0002135684189852327, 2.285416667291429e-05, 5.3265666792867705e-05], "count": [2282]}, "timestamp": {"min": [0.0], "max": [76.03333333333333], "mean": [38.016666666666666], "std": [21.958553129829742], "count": [2282]}, "frame_index": {"min": [0], "max": [2281], "mean": [1140.5], "std": [658.7565938948923], "count": [2282]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [2282]}, "index": {"min": [99395], "max": [101676], "mean": [100535.5], "std": [658.7565938948923], "count": [2282]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2282]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5565201640129089]], [[0.557393491268158]], [[0.5583658218383789]]], "std": [[[0.2965560555458069]], [[0.29553163051605225]], [[0.2959977388381958]]], "count": [2282]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3015913665294647]], [[0.30546703934669495]], [[0.30372077226638794]]], "std": [[[0.18056587874889374]], [[0.1813773512840271]], [[0.18198998272418976]]], "count": [2282]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3104332685470581]], [[0.31346920132637024]], [[0.31041058897972107]]], "std": [[[0.18482649326324463]], [[0.1840398609638214]], [[0.18347123265266418]]], "count": [2282]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5605167150497437]], [[0.5610448122024536]], [[0.5614712834358215]]], "std": [[[0.3031872510910034]], [[0.30249857902526855]], [[0.30324599146842957]]], "count": [2282]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6509804129600525]], [[0.6509804129600525]], [[0.6509804129600525]]], "mean": [[[0.0038599474355578423]], [[0.0038599474355578423]], [[0.0038599474355578423]]], "std": [[[0.03837752342224121]], [[0.03837752342224121]], [[0.03837752342224121]]], "count": [2282]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4916495382785797]], [[0.4916495382785797]], [[0.4916495382785797]]], "std": [[[0.22206176817417145]], [[0.22206176817417145]], [[0.22206176817417145]]], "count": [2282]}}}
+{"episode_index": 39, "stats": {"observation.state": {"min": [1.050535798072815, -0.7796486616134644, -0.22406354546546936, 1.0035477876663208, -0.023509813472628593, -0.7685841917991638, 0.28599813580513, 0.0068893954157829285, -0.00022674960200674832, -0.27042078971862793, 0.005511273164302111, 0.0034881895408034325, -0.0029678107239305973, -0.16814717650413513, 0.003486771136522293, 0.000859353574924171, -0.0032675834372639656, -0.14704009890556335, 0.002999956486746669, 0.0008491548360325396, -0.0031908012460917234, -0.026922496035695076, 0.0027067328337579966, 0.0008119073463603854, 0.0056707062758505344, -0.0027622380293905735, -0.02602587267756462, 0.0022901215124875307, 0.0008478245581500232, 0.9644936919212341, -1.1088656187057495, -0.24275043606758118, 0.9898025393486023, -1.7554783821105957, -0.7693004608154297, -0.276460736989975, 0.005553469527512789, -0.07244443893432617, -0.18998020887374878, -0.20950792729854584, 0.005191863980144262, 0.005339508876204491, -0.12123869359493256, 0.003543146885931492, 0.0008376258774660528, -0.0018565378850325942, -0.08526385575532913, 0.004405798390507698, 0.000870439107529819, -0.0009410246857441962, -0.13247261941432953, 0.0035722211468964815, 0.0008513719658367336, 0.005402048584073782, -0.002199979266151786, -0.1555100679397583, 0.003184683620929718, 0.0008744299411773682, 0.5625874400138855, -1.1069588661193848, 0.543796181678772, -0.0013422331539914012, -9.58738019107841e-05, -0.002013349672779441, -0.7915340662002563], "max": [1.2516669034957886, -0.5588635802268982, -0.0006572148995473981, 1.5690090656280518, 0.2321033924818039, 0.1658615618944168, 0.6432059407234192, 1.3350706100463867, 0.2993209660053253, 0.0018142994958907366, 0.27880093455314636, 0.6675525903701782, 0.4903067648410797, 0.10001064836978912, 0.045393265783786774, 0.04078071564435959, 0.29355767369270325, 0.20708714425563812, 0.03774144500494003, 0.0316169410943985, 0.09862562268972397, 0.21995875239372253, 0.014137839898467064, 0.01589937135577202, 0.24085836112499237, 0.11954405158758163, 0.24330702424049377, 0.018778713420033455, 0.022459369152784348, 1.415031909942627, -0.3168940544128418, -0.0006308496231213212, 1.7510359287261963, 0.13225023448467255, -0.15698233246803284, 0.6981509327888489, 1.37832510471344, 0.276780366897583, 0.202545627951622, 0.2167111486196518, 0.4576190412044525, 1.1636203527450562, 0.11109078675508499, 0.37949007749557495, 0.44608965516090393, 1.2774837017059326, 0.2055830955505371, 1.3833585977554321, 0.5382453203201294, 1.3899916410446167, 0.22090838849544525, 1.5073074102401733, 0.8948252201080322, 0.24189767241477966, 1.2971456050872803, 0.24114802479743958, 1.3547743558883667, 1.3115859031677246, 0.5627791881561279, -1.1066712141036987, 0.5443714261054993, 0.0, 0.0, 0.12923787534236908, -0.6000741124153137], "mean": [1.1645148992538452, -0.5983886122703552, -0.22129681706428528, 1.0937135219573975, 0.1995571404695511, 0.01608894020318985, 0.35823798179626465, 1.268866777420044, 0.2901410162448883, -0.09161528944969177, 0.2558838725090027, 0.6430635452270508, 0.43694207072257996, 0.08886562287807465, 0.03713620826601982, 0.03819454088807106, 0.23491205275058746, 0.18930673599243164, 0.03202160820364952, 0.028015561401844025, 0.06623267382383347, 0.1993967741727829, 0.010660035535693169, 0.010831823572516441, 0.09851084649562836, 0.07896661758422852, 0.22028793394565582, 0.013196203857660294, 0.014410510659217834, 1.2319506406784058, -0.6082634925842285, -0.22162781655788422, 1.292663335800171, -1.3392366170883179, -0.3694404065608978, 0.04233729466795921, 1.2381047010421753, 0.07338379323482513, 0.008828002959489822, -0.0761251151561737, 0.15663371980190277, 0.9149658679962158, 0.057796772569417953, 0.11782457679510117, 0.22944442927837372, 1.1485098600387573, -0.05050347000360489, 1.2089804410934448, 0.30181923508644104, 1.255286455154419, -0.10036619752645493, 1.312337875366211, 0.6200940012931824, 0.03775312751531601, 1.1999770402908325, -0.11906588077545166, 0.7554094195365906, 1.2469927072525024, 0.5626930594444275, -1.1068521738052368, 0.5440384745597839, -0.0008084564469754696, -4.206836479170306e-08, 0.09065678715705872, -0.7462151646614075], "std": [0.04996628686785698, 0.03394967317581177, 0.020039955154061317, 0.07549212872982025, 0.0337451696395874, 0.1388794332742691, 0.06345115602016449, 0.1382031887769699, 0.03113413415849209, 0.041352082043886185, 0.02826876752078533, 0.08033747225999832, 0.06780952960252762, 0.023678729310631752, 0.005402985494583845, 0.005721238441765308, 0.05547131597995758, 0.040271807461977005, 0.006825313903391361, 0.0057313027791678905, 0.02175753563642502, 0.03920513018965721, 0.003020858159288764, 0.0030125053599476814, 0.03499612957239151, 0.026743480935692787, 0.03488879278302193, 0.003868131199851632, 0.004283453803509474, 0.11549627035856247, 0.16611947119235992, 0.022274045273661613, 0.2013036608695984, 0.3259270191192627, 0.10133469104766846, 0.18232443928718567, 0.16143149137496948, 0.06065225973725319, 0.05470524728298187, 0.0720977634191513, 0.102768175303936, 0.2123466432094574, 0.026246480643749237, 0.0892292782664299, 0.1074688509106636, 0.2288995385169983, 0.02733905427157879, 0.26158568263053894, 0.07286906242370605, 0.2569778859615326, 0.04146858677268028, 0.2810909152030945, 0.1514323651790619, 0.03063078410923481, 0.24563109874725342, 0.04726386070251465, 0.21821044385433197, 0.265891432762146, 3.895108966389671e-05, 5.1368238928262144e-05, 7.394054409814999e-05, 0.0002780694339890033, 2.007857347052777e-06, 0.02308662422001362, 0.032273851335048676], "count": [2279]}, "observation.state.joint_torque": {"min": [-32.939998626708984, -9.082500457763672, -15.668999671936035, -8.093999862670898, -0.42399999499320984, -1.555999994277954, 1.2192000150680542, -0.6520460844039917, -0.2559790313243866, -0.3790203332901001, -0.27587705850601196, -0.19092944264411926, -0.4586239457130432, -0.5584082007408142, -0.07803203910589218, -0.039242662489414215, -0.2983933687210083, -0.4758942425251007, -0.12119869887828827, -0.032821137458086014, -0.23027141392230988, -0.4020155072212219, -0.1062563955783844, -0.03424813970923424, -0.12314429879188538, -0.19285231828689575, -0.5229080319404602, -0.07139100879430771, -0.032821137458086014, 6.890999794006348, -7.679999828338623, -1.8179999589920044, -7.61899995803833, -3.0055999755859375, -3.4151999950408936, -3.9151999950408936, -1.7154415845870972, -1.8058619499206543, -0.6586254835128784, -0.6014617681503296, -0.1959102302789688, -1.050613284111023, -0.6409221887588501, -0.23243583738803864, -0.0706368014216423, -1.5687240362167358, -1.0611674785614014, -0.22745507955551147, -0.03068062849342823, -0.3713126480579376, -0.3214205205440521, -0.2108525186777115, -0.04923170804977417, -0.4899384379386902, -0.5747190713882446, -0.5104349851608276, -0.9197818636894226, -0.11558748036623001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.804500579833984, 11.308500289916992, -10.864999771118164, 2.3369998931884766, 1.6959999799728394, 1.3839999437332153, 2.390399932861328, 0.3209289312362671, 0.259799599647522, 0.4461255669593811, 0.40263140201568604, 0.0879935771226883, 0.41832640767097473, 0.5104349851608276, 0.09463459998369217, 0.015697065740823746, 0.29743391275405884, 0.364596426486969, 0.10459613054990768, 0.012843053787946701, 0.322380006313324, 0.42024534940719604, 0.0531281977891922, 0.01712406985461712, 0.05585474148392677, 0.16886571049690247, 0.364596426486969, 0.09463459998369217, 0.013556556776165962, 40.4010009765625, 11.550000190734863, 19.885000228881836, 2.249000072479248, 0.4375999867916107, 3.135999917984009, 0.5440000295639038, 2.441352367401123, 5.010056972503662, 2.248025417327881, 1.4788005352020264, 0.718890905380249, 2.1463215351104736, 0.886544942855835, 1.0592433214187622, 0.21405088901519775, 0.5113944411277771, 0.3789883553981781, 0.0979551151394844, 0.10345793515443802, 0.33965033292770386, 0.26193374395370483, 0.1145576685667038, 0.1919323056936264, 0.12182490527629852, 0.493164598941803, 0.542097270488739, 0.1328205019235611, 0.14484110474586487, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.33755874633789, 1.713129997253418, -12.786178588867188, -1.422463059425354, -0.08988717943429947, -0.49311569333076477, 1.6124202013015747, 0.0022654207423329353, -0.004029020667076111, 0.026868639513850212, 0.009247416630387306, 0.0020150416530668736, 0.011856263503432274, 0.00929910596460104, 0.0003256401396356523, 0.0004646065062843263, 0.01774822175502777, 0.00048709852853789926, 0.00142859504558146, 3.131164476144477e-06, 0.028912827372550964, 0.02650625817477703, 0.0003358382382430136, -6.104995554778725e-05, -0.004539256449788809, 0.009079298004508018, 0.003398336935788393, 0.0016427756054326892, -5.823218816658482e-05, 26.869768142700195, 0.9048576951026917, 12.5458984375, -2.151036500930786, -0.47864851355552673, 1.5140228271484375, -0.9651409387588501, 0.41795119643211365, 1.7328031063079834, 0.44012588262557983, 0.21724116802215576, 0.175535649061203, 1.1417827606201172, 0.001542552257888019, 0.5175674557685852, 0.1177651658654213, -0.18329186737537384, -0.24599744379520416, -0.002351602306589484, -0.0005622862372547388, -0.0037704980932176113, -0.007406272459775209, -0.002832412952557206, -0.0017322554485872388, -0.0029797980096191168, -0.015486149117350578, -0.0021193341817706823, -0.021224917843937874, 0.0008171336958184838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7364512085914612, 0.9729539752006531, 0.6525134444236755, 0.7055314183235168, 0.24998968839645386, 0.3715655207633972, 0.17622168362140656, 0.037408247590065, 0.0233182180672884, 0.06692902743816376, 0.05354854092001915, 0.011831413954496384, 0.05243169888854027, 0.05994725227355957, 0.007188344839960337, 0.0048141335137188435, 0.04702775552868843, 0.04852359741926193, 0.011888035573065281, 0.004308117553591728, 0.049770355224609375, 0.06682945042848587, 0.005406137555837631, 0.0034645062405616045, 0.013399341143667698, 0.025997182354331017, 0.05395423248410225, 0.008210872299969196, 0.00418873131275177, 4.578548431396484, 2.058640718460083, 1.8276747465133667, 1.9604154825210571, 0.3208840489387512, 0.7405205965042114, 0.4840776026248932, 0.7348135113716125, 1.7901101112365723, 0.5544529557228088, 0.3845580518245697, 0.19498294591903687, 1.03305983543396, 0.14274202287197113, 0.48580533266067505, 0.10538181662559509, 0.35384872555732727, 0.2790713608264923, 0.025043915957212448, 0.00853578932583332, 0.07271737605333328, 0.05690069869160652, 0.028517672792077065, 0.010949232615530491, 0.03775676339864731, 0.12237713485956192, 0.0954832062125206, 0.06736443191766739, 0.008640020154416561, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2279]}, "observation.state.tcp": {"min": [0.3619508445262909, 0.1897621899843216, 0.95521479845047, -1.422645926475525, 1.218634843826294, -1.6618242263793945, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24577394127845764, -0.2938674986362457, 0.9567265510559082, -0.658946692943573, 1.18630051612854, 0.4564615786075592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43291619420051575, 0.22301781177520752, 1.0517075061798096, -1.0297737121582031, 1.7390486001968384, -1.2294800281524658, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46900033950805664, -0.04630381241440773, 1.1524183750152588, 1.2084581851959229, 1.9371545314788818, 1.5126047134399414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.420859694480896, 0.2028260976076126, 0.9955787658691406, -1.3402316570281982, 1.6227245330810547, -1.5792261362075806, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3935509920120239, -0.14466552436351776, 1.047255516052246, -0.23757849633693695, 1.674609661102295, 0.7466824650764465, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.009026573039591312, 0.006827910430729389, 0.026526426896452904, 0.05968125909566879, 0.09835231304168701, 0.0645328089594841, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06310161203145981, 0.06045234575867653, 0.04939241707324982, 0.3007315993309021, 0.12892454862594604, 0.1679089367389679, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2279]}, "action": {"min": [1.0501538515090942, -0.7784918546676636, -0.22405697405338287, 1.003544569015503, -0.023558566346764565, -0.7655053734779358, 0.2859882712364197, 0.0, 0.0, -0.27645131945610046, 0.0, 0.0, 0.0, -0.1806129366159439, 0.0, 0.0, 0.0, -0.15365955233573914, 0.0, 0.0, 0.0, -0.14852066338062286, 0.0, 0.0, 0.0, 0.0, -0.08003110438585281, 0.0, 0.0, 0.9644972681999207, -1.1097091436386108, -0.24274997413158417, 0.98976731300354, -1.7554739713668823, -0.7669018507003784, -0.27660420536994934, 0.0, -0.07894211262464523, -0.19820405542850494, -0.1894388496875763, 0.0, 0.0, -0.12480870634317398, 0.0, 0.0, 0.0, -0.08921220898628235, 0.0, 0.0, 0.0, -0.13386835157871246, 0.0, 0.0, 0.0, 0.0, -0.15360288321971893, 0.0, 0.0, 0.5625876188278198, -1.1069587469100952, 0.5439882874488831, -0.0012956414138898253, -1.3884353393223137e-05, -0.001758134108968079, -0.7916597127914429], "max": [1.251660943031311, -0.5588597655296326, -0.0017355874879285693, 1.5662297010421753, 0.2321171760559082, 0.16587109863758087, 0.6433218717575073, 1.3445969820022583, 0.29515841603279114, 0.0, 0.28191491961479187, 0.6730499863624573, 0.5018954873085022, 0.09851555526256561, 0.048758916556835175, 0.04472659155726433, 0.294460266828537, 0.20923961699008942, 0.04270230233669281, 0.035930335521698, 0.10054728388786316, 0.22947543859481812, 0.02091127634048462, 0.018571864813566208, 0.26180002093315125, 0.1228843703866005, 0.24424749612808228, 0.02576085366308689, 0.024291837587952614, 1.4150292873382568, -0.3168938159942627, -0.0025960300117731094, 1.751291036605835, 0.13224737346172333, -0.1570660024881363, 0.8155509829521179, 1.3821330070495605, 0.28800374269485474, 0.2070707231760025, 0.23041683435440063, 0.4613409638404846, 1.2505794763565063, 0.10451774299144745, 0.39211130142211914, 0.4927912950515747, 1.332041621208191, 0.24819612503051758, 1.386914849281311, 0.5424699187278748, 1.397287130355835, 0.2629208564758301, 1.5104604959487915, 0.8965785503387451, 0.26180002093315125, 1.3044272661209106, 0.28112512826919556, 1.3604960441589355, 1.3980636596679688, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 6.980323865272406e-20, 1.4988711882324424e-05, 0.1298670619726181, -0.6000000238418579], "mean": [1.1645827293395996, -0.5984253287315369, -0.2213078886270523, 1.093790888786316, 0.1995670199394226, 0.015961384400725365, 0.358292818069458, 1.2764661312103271, 0.28938260674476624, -0.08738358318805695, 0.2584300935268402, 0.6486622095108032, 0.4395809471607208, 0.08884105086326599, 0.0439385324716568, 0.040747568011283875, 0.2406044453382492, 0.19129587709903717, 0.03668366000056267, 0.031295325607061386, 0.0668005421757698, 0.20404481887817383, 0.01600535586476326, 0.014241155236959457, 0.09875526279211044, 0.08305463939905167, 0.22336024045944214, 0.018551360815763474, 0.017910590395331383, 1.233195185661316, -0.6088587641716003, -0.22164076566696167, 1.2932060956954956, -1.3388553857803345, -0.3698084354400635, 0.04332847148180008, 1.241737961769104, 0.08051228523254395, 0.009826472960412502, -0.07499492913484573, 0.15777786076068878, 0.942342221736908, 0.05053050443530083, 0.12148258090019226, 0.27036672830581665, 1.1501755714416504, -0.05121569707989693, 1.20936119556427, 0.3022400438785553, 1.2566009759902954, -0.10010645538568497, 1.3133301734924316, 0.6207683682441711, 0.039614468812942505, 1.2007256746292114, -0.11926215887069702, 0.7557861804962158, 1.2941409349441528, 0.5626947283744812, -1.1068580150604248, 0.5441032648086548, -0.000853613018989563, 7.244883590828977e-07, 0.09070839732885361, -0.746271550655365], "std": [0.04997057840228081, 0.0340164378285408, 0.02004697360098362, 0.07571632415056229, 0.033778317272663116, 0.13917027413845062, 0.06354725360870361, 0.1524031162261963, 0.034245897084474564, 0.042614586651325226, 0.03205420449376106, 0.0823359340429306, 0.06747225672006607, 0.021113617345690727, 0.006376624573022127, 0.005839098710566759, 0.05582575127482414, 0.03759630396962166, 0.007732108701020479, 0.006521225441247225, 0.022085770964622498, 0.04047977179288864, 0.004106609616428614, 0.0037269422318786383, 0.03754749894142151, 0.0271182581782341, 0.033387407660484314, 0.005050602834671736, 0.004849608521908522, 0.1156732589006424, 0.16668182611465454, 0.022247817367315292, 0.20160384476184845, 0.3269602060317993, 0.10172201693058014, 0.1860363781452179, 0.1699455827474594, 0.06605879962444305, 0.05674470216035843, 0.06944417208433151, 0.10473521053791046, 0.22689124941825867, 0.026122409850358963, 0.09141501039266586, 0.11859147995710373, 0.22414854168891907, 0.02958904579281807, 0.25715386867523193, 0.07204680144786835, 0.251142293214798, 0.0422714464366436, 0.27574557065963745, 0.1494397222995758, 0.03285030275583267, 0.24037708342075348, 0.047928404062986374, 0.21681693196296692, 0.2730654776096344, 1.2773404705512803e-05, 8.928202987590339e-06, 3.6973397072870284e-05, 0.00027628461248241365, 7.085441211529542e-06, 0.023092111572623253, 0.03234301880002022], "count": [2279]}, "observation.state.tcp_pose": {"min": [0.3619508445262909, 0.1897621899843216, 0.95521479845047, -1.422645926475525, 1.218634843826294, -1.6618242263793945, 0.24577394127845764, -0.2938674986362457, 0.9567265510559082, -0.658946692943573, 1.18630051612854, 0.4564615786075592], "max": [0.43291619420051575, 0.22301781177520752, 1.0517075061798096, -1.0297737121582031, 1.7390486001968384, -1.2294800281524658, 0.46900033950805664, -0.04630381241440773, 1.1524183750152588, 1.2084581851959229, 1.9371545314788818, 1.5126047134399414], "mean": [0.420859694480896, 0.2028260976076126, 0.9955787658691406, -1.3402316570281982, 1.6227245330810547, -1.5792261362075806, 0.3935509920120239, -0.14466552436351776, 1.047255516052246, -0.23757849633693695, 1.674609661102295, 0.7466824650764465], "std": [0.009026573039591312, 0.006827910430729389, 0.026526426896452904, 0.05968125909566879, 0.09835231304168701, 0.0645328089594841, 0.06310161203145981, 0.06045234575867653, 0.04939241707324982, 0.3007315993309021, 0.12892454862594604, 0.1679089367389679], "count": [2279]}, "action.tcp_pose": {"min": [0.3621683716773987, 0.18976034224033356, 0.9551641941070557, -1.422659158706665, 1.2198131084442139, -1.6637370586395264, 0.24553409218788147, -0.29454174637794495, 0.9567307233810425, -0.6587247848510742, 1.1865997314453125, 0.45633673667907715], "max": [0.43291419744491577, 0.22299732267856598, 1.0514130592346191, -1.0298473834991455, 1.7390308380126953, -1.2299525737762451, 0.46878334879875183, -0.046290140599012375, 1.1526260375976562, 1.2062963247299194, 1.9383348226547241, 1.5719075202941895], "mean": [0.4208742678165436, 0.20283307135105133, 0.9955797791481018, -1.3402414321899414, 1.6225948333740234, -1.5792181491851807, 0.3936983048915863, -0.14483879506587982, 1.0479533672332764, -0.23804053664207458, 1.672105312347412, 0.7470306158065796], "std": [0.009052508510649204, 0.006844694726169109, 0.026565300300717354, 0.05980584770441055, 0.09860251098871231, 0.06450067460536957, 0.06306113302707672, 0.06072963774204254, 0.04970244690775871, 0.29972928762435913, 0.13292844593524933, 0.17004768550395966], "count": [2279]}, "subtask_index": {"min": [54], "max": [2146], "mean": [2013.2509872751207], "std": [421.0848233420475], "count": [2279]}, "observation.tactile": {"min": [-0.010908612050116062, -4.207044548820704e-05, -9.38248194870539e-05, -0.0013882580678910017, -3.3892378269229084e-05, -0.00029804898076690733, -0.011611290276050568, -4.9297210352960974e-05, -0.00011382741649867967, -0.000794640276581049, -6.902655877638608e-05, -0.00021925363398622721, -0.02002193033695221, -4.65757584606763e-05, -0.0001032039217534475, -0.001613063388504088, -3.222548548365012e-05, -0.0004049791023135185, -0.014525659382343292, -3.464409746811725e-05, -7.427371019730344e-05, -0.001383780618198216, -3.634852328104898e-05, -0.00031708215828984976, -0.0072700511664152145, -4.637162055587396e-05, -0.00010571609163889661, -0.0007836550357751548, -6.214855966391042e-05, -0.00012597112799994648, -2.1146559715270996, -4.015136801172048e-05, -9.328878513770178e-05, -0.2060496211051941, -0.010368328541517258, -0.05179109051823616, -7.39158296585083, -0.41123834252357483, -0.28352391719818115, -0.3144569396972656, -0.07028932869434357, -0.11421450972557068, -0.13140571117401123, -4.69393162347842e-05, -0.00010374299017712474, -0.0011912918416783214, -0.0005552925285883248, -0.002586033195257187, -0.023645661771297455, -5.381223309086636e-05, -0.00012044968025293201, -0.0026019257493317127, -7.709782948950306e-05, -0.0005289416294544935, -0.18368689715862274, -4.311811790103093e-05, -9.669487189967185e-05, -0.001450059236958623, -0.00026250729570165277, -0.0028264899738132954], "max": [0.009590278379619122, 0.029214031994342804, 0.08099700510501862, 1.7872944226837717e-06, 0.0003027171769645065, 0.00010446231317473575, 0.000363595929229632, 0.012168931774795055, 0.03819196671247482, 1.964660441444721e-06, 2.094587034662254e-05, 7.169231594161829e-06, 0.019344910979270935, 0.026497993618249893, 0.0789760947227478, 1.9251399407949066e-06, 0.00025444384664297104, 0.00024274742463603616, 0.003278331132605672, 0.021871836856007576, 0.06490001827478409, 1.3819592368236044e-06, 0.00011504701978992671, 2.144142308679875e-05, 0.0048724752850830555, 0.015569440089166164, 0.043518662452697754, 1.9971334950241726e-06, 0.00015590284601785243, 4.195620203972794e-05, 6.0834760665893555, 9.173890113830566, 11.23892879486084, 1.7230744333573966e-06, 0.034466151148080826, 0.09991413354873657, 1.8733981847763062, 11.052783966064453, 22.81296157836914, 0.008718408644199371, 0.016668371856212616, 0.04816240817308426, 0.025588922202587128, 0.022167904302477837, 0.07068025320768356, 1.9146441445627715e-06, 0.00030940776923671365, 0.00033663681824691594, 0.1286047250032425, 0.04859188199043274, 0.15701769292354584, 2.2114243165560765e-06, 0.000927938730455935, 0.001910697785206139, 0.008124074898660183, 0.038554880768060684, 0.08902335166931152, 1.7798304270399967e-06, 0.00017201299488078803, 0.00012534917914308608], "mean": [-0.0003026030317414552, 0.004341767635196447, 0.012350024655461311, -0.00016286845493596047, 5.112604412715882e-05, -2.0237524950061925e-05, 0.00019383340259082615, 0.00032185527379624546, 0.0010162460384890437, -1.6864574718056247e-05, 6.728256494170637e-07, 3.418673486521584e-06, -0.0009004042367450893, 0.003631225321441889, 0.010774862952530384, -0.0002180123410653323, 1.7662367099546827e-05, -2.446711005177349e-05, -0.00048700065235607326, 0.0013490619603544474, 0.003939273301512003, -5.393919855123386e-05, 1.2020436770399101e-06, -6.3775023591006175e-06, -3.401407229830511e-05, 0.001034917775541544, 0.0030301669612526894, -4.9847341870190576e-05, 4.743550562125165e-06, -8.441716659035592e-07, 1.7891792058944702, 2.110244035720825, 4.614373683929443, -0.08220021426677704, 0.006300254259258509, 0.029369128867983818, -2.4404590129852295, 1.229927659034729, 7.774230003356934, -0.13003171980381012, -0.0077684191055595875, -0.03966021165251732, 0.00026120568509213626, 0.003034291323274374, 0.008975114673376083, -0.0001551829045638442, 2.2376392735168338e-05, -6.127114374976372e-06, -0.002102425554767251, 0.005306113511323929, 0.015801552683115005, -0.0003345143049955368, 6.029418273101328e-06, -4.826074291486293e-05, -0.00027319573564454913, 0.0017624380998313427, 0.005153174512088299, -9.551033144816756e-05, 1.3653062524099369e-05, -8.461375728074927e-06], "std": [0.0008397893980145454, 0.00465128431096673, 0.013053554110229015, 0.00019858061568811536, 5.6076918554026634e-05, 2.6517776859691367e-05, 0.00041829136898741126, 0.0006231635343283415, 0.0019029538379982114, 3.494572592899203e-05, 4.723306574305752e-06, 7.911658940429334e-06, 0.002418571151793003, 0.005769988056272268, 0.01699117384850979, 0.0003511292452458292, 3.0756844353163615e-05, 5.1979666750412434e-05, 0.001286837155930698, 0.0022752401418983936, 0.006588977761566639, 0.00010332099918741733, 1.295820766245015e-05, 2.4974395273602568e-05, 0.0007551700109615922, 0.00217089569196105, 0.00625730212777853, 0.00010927630501100793, 1.8577569790068083e-05, 1.571166103531141e-05, 1.8778738975524902, 2.0564560890197754, 4.067327499389648, 0.07383069396018982, 0.007766793016344309, 0.03251000493764877, 2.3800740242004395, 1.5292240381240845, 6.975200653076172, 0.11563725769519806, 0.015161610208451748, 0.039464954286813736, 0.005756990518420935, 0.004011251498013735, 0.011991963721811771, 0.00020497580408118665, 5.6302968005184084e-05, 0.00010473189468029886, 0.005495877005159855, 0.005977838300168514, 0.01791844144463539, 0.0003751518379431218, 4.943248495692387e-05, 9.43341146921739e-05, 0.0061262850649654865, 0.0031320503912866116, 0.008906427770853043, 0.0001647493481868878, 3.111297337454744e-05, 9.091824176721275e-05], "count": [2279]}, "timestamp": {"min": [0.0], "max": [75.93333333333334], "mean": [37.96666666666667], "std": [21.9296856135949], "count": [2279]}, "frame_index": {"min": [0], "max": [2278], "mean": [1139.0], "std": [657.890568407847], "count": [2279]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [2279]}, "index": {"min": [101677], "max": [103955], "mean": [102816.0], "std": [657.890568407847], "count": [2279]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2279]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5652772188186646]], [[0.5659975409507751]], [[0.5667941570281982]]], "std": [[[0.30047309398651123]], [[0.2996460497379303]], [[0.30023837089538574]]], "count": [2279]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30115509033203125]], [[0.3050459325313568]], [[0.3031425178050995]]], "std": [[[0.1820608377456665]], [[0.1827762871980667]], [[0.1833207756280899]]], "count": [2279]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3102503716945648]], [[0.3137136399745941]], [[0.3108258843421936]]], "std": [[[0.1851012110710144]], [[0.18460381031036377]], [[0.1842489093542099]]], "count": [2279]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5701800584793091]], [[0.5705711245536804]], [[0.5708938241004944]]], "std": [[[0.307017058134079]], [[0.3065092861652374]], [[0.3073529303073883]]], "count": [2279]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176652908325]], [[0.6941176652908325]], [[0.6941176652908325]]], "mean": [[[0.004051293712109327]], [[0.004051293712109327]], [[0.004051293712109327]]], "std": [[[0.04028823971748352]], [[0.04028823971748352]], [[0.04028823971748352]]], "count": [2279]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4914083480834961]], [[0.4914083480834961]], [[0.4914083480834961]]], "std": [[[0.22202709317207336]], [[0.22202709317207336]], [[0.22202709317207336]]], "count": [2279]}}}
+{"episode_index": 40, "stats": {"observation.state": {"min": [1.0416761636734009, -0.7798418402671814, -0.21725410223007202, 1.0926775932312012, -0.039624400436878204, -0.7694727778434753, 0.3665447235107422, 0.0069777462631464005, -0.0011108029866591096, -0.25497356057167053, 0.00014375745377037674, 0.0035087543074041605, 0.0036909973714500666, -0.03981105983257294, 0.003453796962276101, 0.0008491548360325396, 0.00012535577116068453, -0.01800311729311943, 0.0030588137451559305, 0.0008487114100717008, -0.003190066199749708, 0.004230933729559183, 0.002791118808090687, 0.0008132376242429018, 0.005637524649500847, -0.002100131008774042, 0.00439284136518836, 0.002413154812529683, 0.000854919315315783, 0.9829135537147522, -1.0639714002609253, -0.2426626980304718, 1.0471194982528687, -1.973741888999939, -0.7671604156494141, -0.2549949586391449, 0.0056376648135483265, -0.14502805471420288, -0.2701770067214966, -0.2462640255689621, 0.0032683606259524822, 0.00706848269328475, -0.1351698338985443, 0.0035697389394044876, 0.0007870756671763957, 0.0035644150339066982, -0.10109229385852814, 0.004651155788451433, 0.0013697333633899689, -0.0011286907829344273, -0.13424254953861237, 0.003561229445040226, 0.000848267984110862, 0.006331111304461956, -0.002096946118399501, -0.15824483335018158, 0.0032265221234411, 0.0008292007842101157, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0009587379754520953, -9.58738019107841e-05, 9.58738019107841e-05, -0.7759066820144653], "max": [1.2146546840667725, -0.5818327069282532, -0.00024304007820319384, 1.5695346593856812, 0.22567793726921082, -0.06857781112194061, 0.6798556447029114, 1.3600702285766602, 0.2918015420436859, -0.0035035922192037106, 0.22099699079990387, 0.5887374877929688, 0.5493931174278259, 0.09524445235729218, 0.037813421338796616, 0.040915075689554214, 0.37033241987228394, 0.20512732863426208, 0.052585575729608536, 0.04105741158127785, 0.1416807323694229, 0.22892770171165466, 0.01864362508058548, 0.01774534024298191, 0.24085836112499237, 0.14081010222434998, 0.2357378751039505, 0.022713297978043556, 0.02242744155228138, 1.4374492168426514, -0.29542046785354614, -0.002573612378910184, 1.7815362215042114, 0.21966701745986938, -0.13423098623752594, 0.692797839641571, 1.36370849609375, 0.2895743250846863, 0.517741858959198, 0.2746778130531311, 0.6685793995857239, 1.1208000183105469, 0.10012080520391464, 0.7400074601173401, 0.5775955319404602, 1.3679778575897217, 0.227721706032753, 1.3427679538726807, 0.4989212453365326, 1.3581901788711548, 0.23942126333713531, 1.4911723136901855, 0.7337251901626587, 0.24208176136016846, 1.2559483051300049, 0.2801034152507782, 1.3044322729110718, 1.3081711530685425, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.00047936898772604764, 9.58738019107841e-05, 0.1577123999595642, -0.6000741124153137], "mean": [1.1287974119186401, -0.638186514377594, -0.2142171412706375, 1.188954472541809, 0.04805069416761398, -0.19385889172554016, 0.44595852494239807, 1.3252389430999756, 0.2846178412437439, -0.1651846468448639, 0.18540439009666443, 0.569913923740387, 0.5016363859176636, 0.08732353150844574, 0.03578931838274002, 0.038040995597839355, 0.3185081481933594, 0.1831662505865097, 0.0511716827750206, 0.034825608134269714, 0.10750075429677963, 0.20356802642345428, 0.013562561012804508, 0.014558578841388226, 0.0689922422170639, 0.09808354824781418, 0.2192988395690918, 0.015304455533623695, 0.015896955505013466, 1.2482112646102905, -0.6301085948944092, -0.22578035295009613, 1.3143469095230103, -1.420935034751892, -0.36031439900398254, 0.008102272637188435, 1.2353439331054688, 0.08148132264614105, 0.009629376232624054, -0.0711456909775734, 0.14042498171329498, 0.8762230277061462, 0.04731503874063492, 0.14910447597503662, 0.1809639185667038, 1.1531658172607422, -0.05547802895307541, 1.1503700017929077, 0.3249880075454712, 1.2257401943206787, -0.1007736325263977, 1.3142746686935425, 0.5260567665100098, 0.02682540751993656, 1.1508064270019531, -0.11835257709026337, 0.7871396541595459, 1.245451807975769, 0.5626952052116394, -1.1068652868270874, 0.5440620183944702, -0.00044657682883553207, -1.1332601701496969e-07, 0.11565165221691132, -0.6794873476028442], "std": [0.05208756402134895, 0.04191193729639053, 0.019198184832930565, 0.06690125912427902, 0.018834268674254417, 0.11029164493083954, 0.05132417008280754, 0.1372511386871338, 0.032456882297992706, 0.037391938269138336, 0.028562793508172035, 0.06718543916940689, 0.08146180212497711, 0.01358806062489748, 0.004751577507704496, 0.005223128944635391, 0.06104595959186554, 0.02782309055328369, 0.007198383565992117, 0.0058678071945905685, 0.032055582851171494, 0.03153279423713684, 0.0035521313548088074, 0.0038507995195686817, 0.03214818611741066, 0.04069724306464195, 0.02814311720430851, 0.006521088536828756, 0.0067077940329909325, 0.12425731122493744, 0.16267473995685577, 0.022762784734368324, 0.1693427711725235, 0.3462184965610504, 0.1313764750957489, 0.18087565898895264, 0.1490919440984726, 0.07450776547193527, 0.14888378977775574, 0.07568448781967163, 0.13077226281166077, 0.19162794947624207, 0.03259748965501785, 0.11582498997449875, 0.12060463428497314, 0.2188277244567871, 0.03406098484992981, 0.24710509181022644, 0.07139817625284195, 0.24340564012527466, 0.04883083701133728, 0.28124988079071045, 0.13040170073509216, 0.03038349188864231, 0.22890149056911469, 0.05405963212251663, 0.2373441904783249, 0.2632310390472412, 3.7311114283511415e-05, 4.279675704310648e-05, 7.63864372856915e-05, 0.0002548426273278892, 8.294584404211491e-06, 0.024581247940659523, 0.04299371317028999], "count": [2538]}, "observation.state.joint_torque": {"min": [-32.9010009765625, -3.1424999237060547, -16.128000259399414, -6.781000137329102, -0.19280000030994415, -0.8008000254631042, 1.044800043106079, -0.36550238728523254, -0.44318756461143494, -0.38150572776794434, -0.30445894598960876, -0.09961536526679993, -0.4365561902523041, -0.6102192401885986, -0.07471152395009995, -0.039242662489414215, -0.22355517745018005, -0.3789883553981781, -0.11289741843938828, -0.0321076326072216, -0.21204157173633575, -0.4595833718776703, -0.08633331209421158, -0.03139413148164749, -0.10819106549024582, -0.22835248708724976, -0.4519076645374298, -0.04150639846920967, -0.0321076326072216, 4.117499828338623, -8.878499984741211, -7.581999778747559, -9.086000442504883, -1.9479999542236328, -7.182400226593018, -3.240799903869629, -1.4721978902816772, -0.7908605933189392, -0.4076021909713745, -1.2712715864181519, -0.1062563955783844, -1.111059546470642, -1.1101001501083374, -0.10127562284469604, -0.07135029137134552, -1.254979133605957, -1.1542354822158813, -0.503057599067688, -0.09632289409637451, -0.3242989182472229, -0.32813677191734314, -0.11289741843938828, -0.04851820319890976, -0.15129156410694122, -0.37994784116744995, -0.4451914131641388, -0.1494230479001999, -0.05422622710466385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.83650016784668, 7.576499938964844, -10.265000343322754, 0.41499999165534973, 1.9664000272750854, 1.0736000537872314, 2.4240000247955322, 0.355314165353775, 0.2559790313243866, 0.42499983310699463, 0.48837700486183167, 0.10127562284469604, 0.5181106925010681, 0.35883963108062744, 0.0879935771226883, 0.019978083670139313, 0.3924208879470825, 0.27824464440345764, 0.12949997186660767, 0.014983562752604485, 0.2974339425563812, 0.3214205205440521, 0.12451920658349991, 0.014983562752604485, 0.06640996783971786, 0.1775008887052536, 0.40393444895744324, 0.07637178897857666, 0.013556556776165962, 38.368499755859375, 17.858999252319336, 18.89699935913086, 6.993000030517578, 1.1895999908447266, 3.259200096130371, 2.868000030517578, 2.5012080669403076, 4.648375511169434, 2.475437641143799, 1.407967209815979, 0.6192755699157715, 2.1501593589782715, 0.820341944694519, 1.0575830936431885, 0.21547789871692657, 0.7176792621612549, 0.31374481320381165, 0.20753200352191925, 0.022832093760371208, 0.871193528175354, 0.23986604809761047, 0.1959102302789688, 0.03781566023826599, 0.12578311562538147, 0.6840980052947998, 0.4077723026275635, 0.2125127911567688, 0.05708024278283119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.164154052734375, 1.9789562225341797, -12.868906021118164, -2.0470190048217773, 0.27836698293685913, -0.08775325864553452, 1.6956011056900024, -7.521352472394938e-06, -0.0021762375254184008, 0.016413070261478424, -0.0021754405461251736, 0.0008903116104193032, 0.016390662640333176, 0.00908463355153799, 0.0004605282738339156, 0.00019313480879645795, 0.01737775281071663, -0.0007031545974314213, 0.0012062705354765058, 0.00017570509226061404, 0.02597665786743164, 0.02183482237160206, 0.0018558513838797808, -0.00027156976284459233, -0.0034355781972408295, 0.011367974802851677, 0.005675468128174543, 0.002037709578871727, 0.0002232148399343714, 27.036836624145508, 0.932839035987854, 12.846277236938477, -2.0068843364715576, -0.5096025466918945, 1.5401124954223633, -0.8039650917053223, 0.4306657910346985, 1.228582739830017, 0.4019950330257416, 0.11746801435947418, 0.12652687728405, 0.8820438981056213, -0.012144154869019985, 0.402849018573761, 0.09899216145277023, -0.10670135915279388, -0.1982458382844925, -0.012994862161576748, -0.0032267894130200148, -0.010262638330459595, -0.015548390336334705, 0.0010747859487310052, -0.0019319078419357538, -0.0011064325226470828, -0.012891151942312717, 0.005037745460867882, -0.018159449100494385, 0.0033248974941670895, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7322835326194763, 0.9400765895843506, 0.6079205870628357, 0.6650180220603943, 0.2079278975725174, 0.33519765734672546, 0.1749335378408432, 0.03222068026661873, 0.022927602753043175, 0.06537340581417084, 0.050340671092271805, 0.007987732999026775, 0.05512414127588272, 0.04136733338236809, 0.006756856571882963, 0.003863127436488867, 0.046393439173698425, 0.0368812270462513, 0.012817170470952988, 0.004156036302447319, 0.05041903257369995, 0.06464125961065292, 0.00924618449062109, 0.004198156762868166, 0.01239302009344101, 0.02280663512647152, 0.04770383611321449, 0.007067021913826466, 0.004104285500943661, 4.509057998657227, 2.160215377807617, 2.269727945327759, 1.8314030170440674, 0.343370646238327, 0.9431511163711548, 0.6248476505279541, 0.7522690296173096, 1.4325141906738281, 0.5320881009101868, 0.3455840051174164, 0.15800902247428894, 0.9716805219650269, 0.19164492189884186, 0.4434797763824463, 0.10283087193965912, 0.2741844654083252, 0.24062620103359222, 0.05774247646331787, 0.015130091458559036, 0.08236262947320938, 0.05857420340180397, 0.028173690661787987, 0.01021360233426094, 0.023468876257538795, 0.1283591389656067, 0.0925142839550972, 0.037894412875175476, 0.005626995582133532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2538]}, "observation.state.tcp": {"min": [0.3616575300693512, 0.18417614698410034, 0.9377368688583374, -1.292447805404663, 1.2178736925125122, -1.494465947151184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2567828893661499, -0.2963313162326813, 0.9457074403762817, -0.9065385460853577, 1.169661283493042, 0.26206859946250916, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4185204803943634, 0.24200664460659027, 1.0518136024475098, -1.015023946762085, 1.7277241945266724, -1.2291028499603271, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4625900685787201, -0.0459630973637104, 1.1412489414215088, 1.2081483602523804, 1.9001493453979492, 1.4873868227005005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40125778317451477, 0.20280008018016815, 0.9874644875526428, -1.1866706609725952, 1.577628493309021, -1.4333243370056152, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.393713116645813, -0.15018701553344727, 1.0515313148498535, -0.3017343282699585, 1.6622391939163208, 0.6709733009338379, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010235735215246677, 0.011441878974437714, 0.029767002910375595, 0.06074869632720947, 0.1007780134677887, 0.05195467174053192, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.054990481585264206, 0.05732404813170433, 0.052769191563129425, 0.3395806849002838, 0.132314994931221, 0.20096246898174286, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2538]}, "action": {"min": [1.0416789054870605, -0.7799999713897705, -0.21724992990493774, 1.092614769935608, -0.040240176022052765, -0.7699999809265137, 0.36655035614967346, 0.0, 0.0, -0.26367107033729553, 0.0, 0.0, 0.0, -0.04692383110523224, 0.0, 0.0, 0.0, -0.030426258221268654, 0.0, 0.0, 0.0, -0.005848656874150038, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9829112887382507, -1.0653197765350342, -0.24265658855438232, 1.0471303462982178, -1.9737294912338257, -0.76581209897995, -0.25515514612197876, 0.0, -0.1479896605014801, -0.271236389875412, -0.2495802342891693, 0.0, 0.0, -0.14076082408428192, 0.0, 0.0, 0.0, -0.09908434748649597, 0.0, 0.0, 0.0, -0.13971595466136932, 0.0, 0.0, -9.356592833853483e-09, 0.0, -0.16122804582118988, 0.0, 0.0, 0.5625876188278198, -1.1068999767303467, 0.5439882278442383, -0.0009459052234888077, -7.306215411517769e-05, 1.516983565281616e-17, -0.7758845090866089], "max": [1.2146813869476318, -0.5818401575088501, 9.767477713201709e-18, 1.5700000524520874, 0.22659026086330414, -0.06857749819755554, 0.6798718571662903, 1.3711687326431274, 0.29240673780441284, 0.0, 0.22272448241710663, 0.5963605642318726, 0.5545331239700317, 0.09684830904006958, 0.04604099690914154, 0.04496367275714874, 0.37947264313697815, 0.20143578946590424, 0.06099237501621246, 0.042332783341407776, 0.14506156742572784, 0.23313862085342407, 0.0232473686337471, 0.021861793473362923, 0.26179999113082886, 0.14563362300395966, 0.24123500287532806, 0.02781197801232338, 0.026005705818533897, 1.4374490976333618, -0.29541799426078796, -0.0019609241280704737, 1.7816582918167114, 0.22061027586460114, -0.13425575196743011, 0.6932830214500427, 1.3617664575576782, 0.29026687145233154, 0.5227697491645813, 0.2830658257007599, 0.6715283393859863, 1.2007514238357544, 0.09936893731355667, 0.750846266746521, 0.6553879976272583, 1.407596230506897, 0.2307036817073822, 1.3467233180999756, 0.5067897439002991, 1.385304570198059, 0.24015012383460999, 1.4972823858261108, 0.7362921833992004, 0.26180002093315125, 1.2596510648727417, 0.28297531604766846, 1.307233214378357, 1.400346040725708, 0.5626999735832214, -1.106863021850586, 0.5442758798599243, 0.0004228220786899328, 7.335635018534958e-05, 0.15858007967472076, -0.6000000238418579], "mean": [1.1288442611694336, -0.6382048726081848, -0.21422579884529114, 1.18901789188385, 0.04792642220854759, -0.19397374987602234, 0.4460132122039795, 1.3312209844589233, 0.28604254126548767, -0.16376543045043945, 0.1865590661764145, 0.5763189792633057, 0.5058786273002625, 0.09033326059579849, 0.04282962158322334, 0.04207246005535126, 0.32295775413513184, 0.18544477224349976, 0.055485423654317856, 0.03876583278179169, 0.10872239619493484, 0.20801401138305664, 0.018880747258663177, 0.01784488372504711, 0.07315931469202042, 0.10096795111894608, 0.2232470065355301, 0.020458199083805084, 0.01941204071044922, 1.2493120431900024, -0.630831241607666, -0.22579547762870789, 1.3148488998413086, -1.4201983213424683, -0.3609728217124939, 0.008391409181058407, 1.2365981340408325, 0.08508970588445663, 0.009964236058294773, -0.07111834734678268, 0.14072534441947937, 0.8938867449760437, 0.04116783291101456, 0.15563523769378662, 0.2172180563211441, 1.1520390510559082, -0.05576156824827194, 1.1492154598236084, 0.32475414872169495, 1.2240227460861206, -0.10054191946983337, 1.3132312297821045, 0.5258047580718994, 0.02827932871878147, 1.1493107080459595, -0.11814454942941666, 0.7849608063697815, 1.2896133661270142, 0.5626997947692871, -1.1068657636642456, 0.5441218018531799, -0.0004816818982362747, 1.9323229025758337e-06, 0.11569147557020187, -0.6795291900634766], "std": [0.05209850147366524, 0.041948217898607254, 0.019205043092370033, 0.0670914575457573, 0.018271232023835182, 0.11058511584997177, 0.05139966309070587, 0.14791525900363922, 0.03215190768241882, 0.03771240636706352, 0.02895834855735302, 0.06657787412405014, 0.07914143800735474, 0.013504456728696823, 0.005889987573027611, 0.005660738330334425, 0.061253421008586884, 0.02663429081439972, 0.008097963407635689, 0.005870272405445576, 0.0309605710208416, 0.03131812810897827, 0.004601291846483946, 0.004315391182899475, 0.03569529205560684, 0.04033593088388443, 0.027889398857951164, 0.007219786290079355, 0.006733928807079792, 0.12441860884428024, 0.1631232351064682, 0.022745098918676376, 0.16955602169036865, 0.34815770387649536, 0.13187861442565918, 0.18131011724472046, 0.1577373445034027, 0.0782175287604332, 0.14885073900222778, 0.07618589699268341, 0.1321137547492981, 0.20478102564811707, 0.031213827431201935, 0.1201251968741417, 0.1460740715265274, 0.21950975060462952, 0.03467823937535286, 0.24707892537117004, 0.07156942039728165, 0.24371227622032166, 0.04913725703954697, 0.28178611397743225, 0.13063138723373413, 0.03409336507320404, 0.22918060421943665, 0.05426139011979103, 0.23768529295921326, 0.2751397490501404, 1.7345031665172428e-05, 4.062525022163754e-06, 4.0630791772855446e-05, 0.00026912259636446834, 1.6592483007116243e-05, 0.024690715596079826, 0.043065160512924194], "count": [2538]}, "observation.state.tcp_pose": {"min": [0.3616575300693512, 0.18417614698410034, 0.9377368688583374, -1.292447805404663, 1.2178736925125122, -1.494465947151184, 0.2567828893661499, -0.2963313162326813, 0.9457074403762817, -0.9065385460853577, 1.169661283493042, 0.26206859946250916], "max": [0.4185204803943634, 0.24200664460659027, 1.0518136024475098, -1.015023946762085, 1.7277241945266724, -1.2291028499603271, 0.4625900685787201, -0.0459630973637104, 1.1412489414215088, 1.2081483602523804, 1.9001493453979492, 1.4873868227005005], "mean": [0.40125778317451477, 0.20280008018016815, 0.9874644875526428, -1.1866706609725952, 1.577628493309021, -1.4333243370056152, 0.393713116645813, -0.15018701553344727, 1.0515313148498535, -0.3017343282699585, 1.6622391939163208, 0.6709733009338379], "std": [0.010235735215246677, 0.011441878974437714, 0.029767002910375595, 0.06074869632720947, 0.1007780134677887, 0.05195467174053192, 0.054990481585264206, 0.05732404813170433, 0.052769191563129425, 0.3395806849002838, 0.132314994931221, 0.20096246898174286], "count": [2538]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.18418648838996887, 0.9377259016036987, -1.2924989461898804, 1.2178406715393066, -1.494328260421753, 0.2560848891735077, -0.30142176151275635, 0.9457088708877563, -0.9066321849822998, 1.167019009590149, 0.26209142804145813], "max": [0.4185390770435333, 0.24198512732982635, 1.0518072843551636, -1.0151489973068237, 1.7276551723480225, -1.228931188583374, 0.46257850527763367, -0.04595697298645973, 1.1409207582473755, 1.2072081565856934, 1.9002435207366943, 1.4885116815567017], "mean": [0.40126678347587585, 0.20279580354690552, 0.9874677658081055, -1.1865262985229492, 1.5775671005249023, -1.4333229064941406, 0.3938535451889038, -0.15043574571609497, 1.0521208047866821, -0.301100492477417, 1.6601728200912476, 0.6711595058441162], "std": [0.010254343040287495, 0.011453059501945972, 0.029800672084093094, 0.06081932410597801, 0.10081778466701508, 0.051981620490550995, 0.05495774745941162, 0.05760660022497177, 0.05303671583533287, 0.3409970998764038, 0.1341056078672409, 0.20143909752368927], "count": [2538]}, "subtask_index": {"min": [54], "max": [2199], "mean": [2105.30378250591], "std": [354.8564082030159], "count": [2538]}, "observation.tactile": {"min": [-0.017716700211167336, -3.922996620531194e-05, -8.631969831185415e-05, -0.00267594400793314, -0.00014294548600446433, -0.0002893158816732466, -0.004969069268554449, -5.0741036830004305e-05, -0.00011655513662844896, -0.0005329908453859389, -7.215373625513166e-05, -0.00010031528654508293, -0.00717524578794837, -4.584491762216203e-05, -0.00010210286563960835, -0.001292175380513072, -6.80341399856843e-05, -0.000152199761942029, -0.022963527590036392, -3.4100037737516686e-05, -7.37673690309748e-05, -0.001718615647405386, -3.0221122869988903e-05, -0.0005145155009813607, -0.01035483367741108, -4.698944030678831e-05, -0.00010472019494045526, -0.0010070967255160213, -2.34432900469983e-05, -0.00019814643019344658, -2.559677839279175, -3.803555591730401e-05, -8.807479025563225e-05, -0.19054454565048218, -0.015120081603527069, -0.03805653378367424, -6.030269145965576, -0.4375995993614197, -9.580358164384961e-05, -0.21003861725330353, -0.02829005941748619, -0.12239068001508713, -0.23440292477607727, -4.9509526434121653e-05, -0.000110107590444386, -0.0018702687229961157, -0.000252157129580155, -0.0027303826063871384, -0.026785410940647125, -4.696375981438905e-05, -0.00010514282621443272, -0.004938781261444092, -9.10437447600998e-05, -0.0005779386847279966, -0.2733862102031708, -4.4246196921449155e-05, -9.926686470862478e-05, -0.001407107338309288, -0.0002780937356874347, -0.003987932577729225], "max": [0.0005280097248032689, 0.04257612302899361, 0.12222958356142044, 1.6423829265477252e-06, 0.00037789763882756233, 6.527450295834569e-06, 0.0005490175681188703, 0.010899616405367851, 0.030545586720108986, 1.9909980437660124e-06, 8.808179700281471e-05, 7.127597200451419e-06, 0.03500448539853096, 0.025435196235775948, 0.07638975232839584, 1.8995283426193055e-06, 0.00038476884947158396, 0.00048394830082543194, 0.004554332699626684, 0.027228353545069695, 0.08096683770418167, 1.3810804375680164e-06, 0.00018640857888385653, 3.44010659318883e-05, 0.005544441286474466, 0.018170177936553955, 0.051588963717222214, 1.9559342945285607e-06, 0.0001781291066436097, 2.961395148304291e-05, 6.260206699371338, 9.30980396270752, 11.388017654418945, 1.6085707557067508e-06, 0.037188176065683365, 0.08772532641887665, 8.446430206298828, 17.144454956054688, 13.263176918029785, 1.8142841327062342e-06, 0.00385368918068707, 0.17659726738929749, 0.01865422911942005, 0.05737101286649704, 0.14276961982250214, 2.013199036809965e-06, 0.0002208985824836418, 0.00025103488587774336, 0.24480804800987244, 0.0981278344988823, 0.3040730655193329, 1.9029628219868755e-06, 0.0014522351557388902, 0.0035486069973558187, 0.0013768100179731846, 0.04273063689470291, 0.09142301231622696, 1.8223583992948988e-06, 0.0001458832703065127, 7.192793418653309e-06], "mean": [-0.0013062366051599383, 0.0025049669202417135, 0.007495005149394274, -0.00012563746713567525, -2.5272706807299983e-06, -1.983681067940779e-05, 0.00021663446386810392, 0.00017825246322900057, 0.0005498774698935449, -9.525036148261279e-06, -1.2043554988849792e-06, 4.272817022865638e-06, 0.00025735251256264746, 0.0013757642591372132, 0.004075387958437204, -7.139953959267586e-05, 1.2693460121226963e-05, 6.187482313180226e-07, -0.0009529973031021655, 0.0015706473495811224, 0.004641301929950714, -8.990040078060701e-05, 8.805606739770155e-06, -2.1623527572955936e-05, -0.0008517412352375686, 0.0016097015468403697, 0.004848558455705643, -8.584870374761522e-05, 2.1515673154226533e-07, -1.4598472262150608e-05, 1.268386960029602, 1.8204377889633179, 3.9233124256134033, -0.06672888249158859, 0.003636133624240756, 0.02008674480021, -1.5862581729888916, 0.6874587535858154, 4.426179885864258, -0.0733289122581482, -0.004857426974922419, -0.02637632004916668, -0.0030627581290900707, 0.002317405305802822, 0.006522631738334894, -0.0001110163502744399, -7.587231038996833e-07, -4.047613401780836e-05, -0.004972023423761129, 0.009585203602910042, 0.028615646064281464, -0.000566566945053637, -7.903440746304113e-06, -9.691282321000472e-05, -0.0004434625443536788, 0.001048500300385058, 0.0030426590237766504, -5.8935500419465825e-05, 4.668110307193274e-07, -7.62068384574377e-06], "std": [0.0021393331699073315, 0.003845010418444872, 0.011370697990059853, 0.00021084419859107584, 3.1247873266693205e-05, 3.648503479780629e-05, 0.0005037924856878817, 0.0009615503367967904, 0.00279961246997118, 4.87826437165495e-05, 5.830128884554142e-06, 9.73462374531664e-06, 0.0017163382144644856, 0.002984381979331374, 0.008856408298015594, 0.00015652125875931233, 4.5186487113824114e-05, 2.27899454330327e-05, 0.003380675334483385, 0.004199556075036526, 0.012362302280962467, 0.00024475750979036093, 2.459044844727032e-05, 7.276591350091621e-05, 0.0017344269435852766, 0.0026000789366662502, 0.007767185103148222, 0.00013931066496297717, 7.750525583105627e-06, 3.151158307446167e-05, 1.6234132051467896, 1.8774064779281616, 3.955763101577759, 0.06781413406133652, 0.009000529535114765, 0.026849685236811638, 1.9201401472091675, 1.6350337266921997, 4.567131519317627, 0.07597595453262329, 0.006028144620358944, 0.03485078364610672, 0.016854971647262573, 0.005688292905688286, 0.01492435485124588, 0.00022963518858887255, 3.3940686989808455e-05, 0.00020004797261208296, 0.009532091207802296, 0.007624306250363588, 0.02311803586781025, 0.00045051565393805504, 5.869636152056046e-05, 0.00015013464144431055, 0.008183402940630913, 0.0024915719404816628, 0.006645464804023504, 0.0001311271480517462, 1.6675501683494076e-05, 0.00012314219202380627], "count": [2538]}, "timestamp": {"min": [0.0], "max": [84.56666666666666], "mean": [42.28333333333333], "std": [24.421914491034634], "count": [2538]}, "frame_index": {"min": [0], "max": [2537], "mean": [1268.5], "std": [732.657434731039], "count": [2538]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [2538]}, "index": {"min": [103956], "max": [106493], "mean": [105224.5], "std": [732.657434731039], "count": [2538]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2538]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5519499778747559]], [[0.5528067946434021]], [[0.5541842579841614]]], "std": [[[0.292860746383667]], [[0.29165759682655334]], [[0.2921156883239746]]], "count": [2538]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30173423886299133]], [[0.30541670322418213]], [[0.30377182364463806]]], "std": [[[0.180827334523201]], [[0.18158699572086334]], [[0.18209044635295868]]], "count": [2538]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3099338412284851]], [[0.31403762102127075]], [[0.3117465376853943]]], "std": [[[0.18438848853111267]], [[0.18421348929405212]], [[0.18437956273555756]]], "count": [2538]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5559490919113159]], [[0.556395411491394]], [[0.5571708083152771]]], "std": [[[0.3002080023288727]], [[0.2994269132614136]], [[0.3002054691314697]]], "count": [2538]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6392157077789307]], [[0.6392157077789307]], [[0.6392157077789307]]], "mean": [[[0.003158382372930646]], [[0.003158382372930646]], [[0.003158382372930646]]], "std": [[[0.03507925942540169]], [[0.03507925942540169]], [[0.03507925942540169]]], "count": [2538]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49147406220436096]], [[0.49147406220436096]], [[0.49147406220436096]]], "std": [[[0.22193901240825653]], [[0.22193901240825653]], [[0.22193901240825653]]], "count": [2538]}}}
+{"episode_index": 41, "stats": {"observation.state": {"min": [1.0262715816497803, -0.7799630761146545, -0.22353455424308777, 0.8924768567085266, 4.494084350881167e-05, -0.7699465751647949, 0.3227555453777313, 0.006946669891476631, -0.0002914321084972471, -0.24262596666812897, 0.00017103175923693925, 0.0034945716615766287, 0.0039154598489403725, -0.0021231945138424635, 0.003489607712253928, 0.0008500416879542172, -0.0015089267399162054, -0.005527174100279808, 0.0029949925374239683, 0.0008190020453184843, -0.003337499452754855, 0.005492339376360178, 0.0027028329204767942, 0.0008305310620926321, 0.005574374459683895, -0.001050680410116911, 0.004383273888379335, 0.0023358601611107588, 0.0008367390255443752, 0.8761048913002014, -1.1431851387023926, -0.24228399991989136, 0.9627934694290161, -1.8722590208053589, -0.7851341962814331, -0.3313518464565277, 0.005598819348961115, -0.11631555110216141, -0.21094323694705963, -0.251937597990036, 0.003277224488556385, 0.005080211907625198, -0.11961518973112106, 0.0035637114197015762, 0.0008132376242429018, 0.0036789767909795046, -0.09129731357097626, 0.004421753343194723, 0.0009152248385362327, -0.0017086139414459467, -0.14194518327713013, 0.0038711177185177803, 0.0008469377062283456, 0.006714295595884323, -0.002164160367101431, -0.16083884239196777, 0.0032527598086744547, 0.0008730996632948518, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0014381069922819734, -9.58738019107841e-05, -0.0001917476038215682, -0.7836724519729614], "max": [1.2354371547698975, -0.4637962281703949, -7.502124935854226e-05, 1.5699100494384766, 0.10539011657238007, 0.01199525035917759, 0.5991358757019043, 1.3373554944992065, 0.2940257489681244, -0.0010636919178068638, 0.26368919014930725, 0.5511531233787537, 0.6490402817726135, 0.09823630005121231, 0.05328264459967613, 0.05005313456058502, 0.3327115476131439, 0.1801830232143402, 0.037746407091617584, 0.03613009676337242, 0.15775567293167114, 0.22351165115833282, 0.022401992231607437, 0.022347183898091316, 0.24095147848129272, 0.18048451840877533, 0.26357269287109375, 0.02637203224003315, 0.026932617649435997, 1.415664553642273, -0.28673255443573, -0.00027983164181932807, 1.785679578781128, 0.0501117967069149, -0.04862239584326744, 0.6638412475585938, 1.3431538343429565, 0.25954121351242065, 0.46477508544921875, 0.1990492343902588, 0.6425576210021973, 1.1184742450714111, 0.0958656296133995, 0.6255787014961243, 0.6410533785820007, 1.2773693799972534, 0.20627929270267487, 1.4239903688430786, 0.7483887672424316, 1.3864989280700684, 0.21758237481117249, 1.5355504751205444, 1.0951911211013794, 0.24972300231456757, 1.3327670097351074, 0.23929737508296967, 1.347261905670166, 1.3081852197647095, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.12310195714235306, -0.5999782085418701], "mean": [1.1302149295806885, -0.566489040851593, -0.22097492218017578, 1.0696606636047363, 0.060491353273391724, -0.12548665702342987, 0.43896421790122986, 1.2883343696594238, 0.28691884875297546, -0.17810362577438354, 0.20398876070976257, 0.5383293032646179, 0.5701944231987, 0.07874248176813126, 0.05232325196266174, 0.04587111994624138, 0.2819425165653229, 0.1537838578224182, 0.036681290715932846, 0.03202172741293907, 0.08331039547920227, 0.1695895940065384, 0.011323962360620499, 0.010795737616717815, 0.1412276178598404, 0.1167633980512619, 0.21798500418663025, 0.018579820170998573, 0.019070792943239212, 1.2419565916061401, -0.5980958938598633, -0.21452836692333221, 1.267078161239624, -1.3231329917907715, -0.3272525668144226, -0.003093692474067211, 1.199138879776001, 0.03867248445749283, 0.11119308322668076, -0.04655168205499649, 0.19676145911216736, 0.8705558180809021, 0.04555438458919525, 0.2053290605545044, 0.2449100762605667, 1.157686471939087, -0.05626725032925606, 1.199636697769165, 0.45483681559562683, 1.2777363061904907, -0.10364671796560287, 1.3382749557495117, 0.6639823317527771, 0.03687642142176628, 1.212684154510498, -0.12308002263307571, 0.7942495346069336, 1.2521811723709106, 0.562698483467102, -1.1068634986877441, 0.5440707802772522, -0.0005268913810141385, -3.578715990215642e-08, 0.08903338760137558, -0.7330143451690674], "std": [0.06351972371339798, 0.05416308343410492, 0.01835186593234539, 0.11170006543397903, 0.02667665295302868, 0.12016719579696655, 0.06513170897960663, 0.11727626621723175, 0.028376739472150803, 0.026406172662973404, 0.022501545026898384, 0.05369275063276291, 0.09014575928449631, 0.01709863170981407, 0.006051771342754364, 0.006215931382030249, 0.06066411733627319, 0.026848653331398964, 0.004933098331093788, 0.005688722711056471, 0.05626307800412178, 0.038682229816913605, 0.007951741106808186, 0.007402237504720688, 0.059864215552806854, 0.060534533113241196, 0.02607751078903675, 0.008171020075678825, 0.007578532211482525, 0.12280990183353424, 0.1806853711605072, 0.022291630506515503, 0.1963447481393814, 0.3625932037830353, 0.15608634054660797, 0.21406185626983643, 0.1470184475183487, 0.08186943084001541, 0.1535344123840332, 0.09446217119693756, 0.181385338306427, 0.18722783029079437, 0.02537691406905651, 0.1437871903181076, 0.15177902579307556, 0.20745949447155, 0.030845917761325836, 0.25180450081825256, 0.14768731594085693, 0.23814885318279266, 0.04556092619895935, 0.2742273211479187, 0.2779519259929657, 0.027514038607478142, 0.2279769629240036, 0.050423670560121536, 0.2725673317909241, 0.2518044710159302, 4.4419670302886516e-05, 3.910965460818261e-05, 6.112873234087601e-05, 0.0002610356896184385, 3.208072030247422e-06, 0.01990792527794838, 0.030691517516970634], "count": [2679]}, "observation.state.joint_torque": {"min": [-34.941001892089844, -8.746500015258789, -17.636999130249023, -7.671999931335449, -0.3328000009059906, -1.2640000581741333, 1.1311999559402466, -0.5667197108268738, -0.36550238728523254, -0.38771915435791016, -0.5144734978675842, -0.15772433578968048, -0.5190701484680176, -0.5497730374336243, -0.1062563955783844, -0.039242662489414215, -0.45574551820755005, -0.31182587146759033, -0.13614100217819214, -0.032821137458086014, -0.36843425035476685, -0.47973209619522095, -0.07637178897857666, -0.03567514568567276, -0.13501892983913422, -0.2552174925804138, -0.47205641865730286, -0.12617947161197662, -0.03567514568567276, 3.934499979019165, -6.9644999504089355, -6.039000034332275, -8.847999572753906, -2.319999933242798, -5.909599781036377, -3.071199893951416, -1.7434591054916382, -0.815057635307312, -0.9605990052223206, -1.0923240184783936, -0.13448072969913483, -0.8529636859893799, -0.857761025428772, -0.1145576685667038, -0.07206379622220993, -1.2089248895645142, -1.0880324840545654, -0.3270704448223114, -0.039956167340278625, -1.5341832637786865, -0.3051096498966217, -0.47483325004577637, -0.04709119349718094, -0.16492541134357452, -1.460304617881775, -0.4547860622406006, -0.25069868564605713, -0.13057105243206024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.952999114990234, 8.287500381469727, -9.848999977111816, 1.2059999704360962, 1.5751999616622925, 0.9584000110626221, 2.6103999614715576, 1.1792864799499512, 0.277629017829895, 0.41505831480026245, 0.4411547780036926, 0.1859486699104309, 0.5728001594543457, 0.2840014100074768, 0.0979551151394844, 0.02497260272502899, 0.435596764087677, 0.23123088479042053, 0.12949997186660767, 0.019978083670139313, 0.3828262388706207, 0.5689623355865479, 0.09131408482789993, 0.019978083670139313, 0.06597016006708145, 0.30606910586357117, 0.6687465906143188, 0.07637178897857666, 0.022118592634797096, 38.86800003051758, 9.829500198364258, 20.548999786376953, 3.124000072479248, 0.46480000019073486, 3.090399980545044, 3.6112000942230225, 2.555969715118408, 4.894165992736816, 2.774925947189331, 1.8217829465866089, 0.843410074710846, 2.1444027423858643, 1.0141537189483643, 1.0592433214187622, 0.21476440131664276, 0.5651243925094604, 0.2840014100074768, 0.13448072969913483, 0.038529157638549805, 0.4499887228012085, 0.2696094512939453, 0.14444229006767273, 0.05422622710466385, 0.1372179388999939, 0.5545703172683716, 0.42216426134109497, 0.1759871542453766, 0.05351272225379944, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.085187911987305, 1.5591669082641602, -12.273017883300781, -1.3985345363616943, 0.06503945589065552, -0.1429508924484253, 1.6946147680282593, 0.0024957098066806793, -0.0033494860399514437, 0.016414273530244827, -0.005141459871083498, 0.0006438998971134424, -0.0035087275318801403, 0.0017574024386703968, 8.242352487286553e-05, 8.442629041383043e-05, 0.008962126448750496, 0.0035241185687482357, -0.0004102615639567375, 0.00010626627044985071, 0.024235542863607407, 0.025338666513562202, 0.0010609790915623307, -0.00046634674072265625, -0.003987597301602364, 0.011538677848875523, 0.0016825397033244371, 0.00037431783857755363, 0.00016565837722737342, 27.311870574951172, 0.974247395992279, 12.366856575012207, -1.900000810623169, -0.5547683835029602, 1.4089126586914062, -0.8504669070243835, 0.38008204102516174, 1.607102394104004, 0.6022638082504272, 0.2551981508731842, 0.17778445780277252, 1.014880657196045, -0.05196212977170944, 0.4799441993236542, 0.11345885694026947, -0.10058053582906723, -0.17115603387355804, 0.001062222640030086, -0.0007451977580785751, -0.01114110741764307, -0.016425859183073044, 0.0007226073066703975, -0.003195196157321334, -0.0008177109411917627, -0.004686999600380659, -0.0013362417230382562, -0.016246207058429718, 0.003126460127532482, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7099424004554749, 0.8992788791656494, 1.0296814441680908, 0.6318885087966919, 0.23877623677253723, 0.303864449262619, 0.16976220905780792, 0.04746196046471596, 0.02659551240503788, 0.06591400504112244, 0.06418056041002274, 0.009735886007547379, 0.06856299191713333, 0.0625612735748291, 0.006502385251224041, 0.004163752309978008, 0.04902566596865654, 0.03836405649781227, 0.013598062098026276, 0.0036583521869033575, 0.05204429477453232, 0.06795696169137955, 0.009190253913402557, 0.004828612320125103, 0.014724022708833218, 0.033781249076128006, 0.059682972729206085, 0.007955590263009071, 0.0036936653777956963, 4.744338512420654, 2.2398266792297363, 2.4017112255096436, 1.8023090362548828, 0.3482940196990967, 0.9078418612480164, 0.6829773783683777, 0.7858778834342957, 1.5948307514190674, 0.7000911831855774, 0.49530109763145447, 0.19491294026374817, 0.9327758550643921, 0.2061934620141983, 0.42957958579063416, 0.0966918021440506, 0.2448735535144806, 0.2356054186820984, 0.02751287817955017, 0.008161943405866623, 0.07965309172868729, 0.05623903498053551, 0.026533693075180054, 0.009635146707296371, 0.021803513169288635, 0.1348835676908493, 0.08642501384019852, 0.03720169886946678, 0.0062592653557658195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2679]}, "observation.state.tcp": {"min": [0.36177751421928406, 0.18590229749679565, 0.9267289042472839, -1.2826675176620483, 1.2178641557693481, -1.506312370300293, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23176202178001404, -0.27985256910324097, 0.9344695806503296, -0.7005650997161865, 1.218017816543579, 0.299145370721817, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42776724696159363, 0.21962425112724304, 1.051796793937683, -1.0736844539642334, 1.7333253622055054, -1.2289444208145142, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4754487872123718, -0.03838817775249481, 1.134683609008789, 1.208672046661377, 1.9316670894622803, 1.463094711303711, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41742953658103943, 0.1975002884864807, 0.9822391271591187, -1.1816754341125488, 1.5920261144638062, -1.4505460262298584, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40250587463378906, -0.1488550752401352, 1.0497890710830688, -0.19659358263015747, 1.704453468322754, 0.6809061765670776, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008553026244044304, 0.0069844420067965984, 0.03350616618990898, 0.04488787055015564, 0.08656314015388489, 0.04026283696293831, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06088825315237045, 0.0633486956357956, 0.04914187267422676, 0.34821075201034546, 0.12285233289003372, 0.21209128201007843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2679]}, "action": {"min": [1.0262755155563354, -0.7798721790313721, -0.2235414981842041, 0.8924834728240967, 0.00015830273332539946, -0.7696988582611084, 0.3227854073047638, 0.0, 0.0, -0.24548819661140442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8761039972305298, -1.1432836055755615, -0.24227294325828552, 0.9627898931503296, -1.8722548484802246, -0.7853354215621948, -0.3314100503921509, 0.0, -0.12512017786502838, -0.21417449414730072, -0.2284620702266693, 0.0, 0.0, -0.12084320187568665, 0.0, 0.0, 0.0, -0.09399431943893433, 0.0, 0.0, 0.0, -0.1417727768421173, 0.0, 0.0, 0.0, 0.0, -0.1631947159767151, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5439879298210144, -0.00149106839671731, -4.0850514778867364e-05, -0.00016883513308130205, -0.7840416431427002], "max": [1.2356253862380981, -0.4637865424156189, -0.0003336296940688044, 1.5696711540222168, 0.10540977865457535, 0.01199262123554945, 0.5991281270980835, 1.3485591411590576, 0.2922467589378357, 0.0, 0.2685427963733673, 0.5571874380111694, 0.6543596386909485, 0.09612011909484863, 0.06053117662668228, 0.053328897804021835, 0.3362814486026764, 0.18633970618247986, 0.04786207154393196, 0.039679672569036484, 0.15798425674438477, 0.226886585354805, 0.02675544284284115, 0.024279795587062836, 0.26180002093315125, 0.18700170516967773, 0.2656922936439514, 0.03218144550919533, 0.03029630519449711, 1.4156713485717773, -0.286711722612381, -0.0005329521372914314, 1.786056637763977, 0.05026333034038544, -0.04860132932662964, 0.6642862558364868, 1.3430147171020508, 0.28425952792167664, 0.5041653513908386, 0.20541268587112427, 0.6471802592277527, 1.1921685934066772, 0.09513787925243378, 0.6328943371772766, 0.6896803975105286, 1.3347972631454468, 0.22833862900733948, 1.4274908304214478, 0.7494460940361023, 1.390990138053894, 0.24370253086090088, 1.5412527322769165, 1.096527338027954, 0.26180002093315125, 1.3341463804244995, 0.2703992426395416, 1.3502932786941528, 1.4254448413848877, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 0.0003728143637999892, 2.1516398192034103e-05, 0.12373816221952438, -0.6000000238418579], "mean": [1.1302900314331055, -0.5665578246116638, -0.22100114822387695, 1.0697731971740723, 0.06049491465091705, -0.1256674975156784, 0.43901222944259644, 1.2953351736068726, 0.2863663136959076, -0.17603307962417603, 0.20409931242465973, 0.5426431894302368, 0.5699751973152161, 0.07902025431394577, 0.05376817286014557, 0.048304587602615356, 0.2852444648742676, 0.15725895762443542, 0.04348691552877426, 0.03543790429830551, 0.08434810489416122, 0.1746654361486435, 0.015965571627020836, 0.01472263503819704, 0.14440935850143433, 0.11975153535604477, 0.22086916863918304, 0.023605728521943092, 0.022517018020153046, 1.2429516315460205, -0.5989084839820862, -0.21455717086791992, 1.267734169960022, -1.3228048086166382, -0.3279087543487549, -0.0025608795695006847, 1.20509934425354, 0.04737631604075432, 0.11654258519411087, -0.042314525693655014, 0.1978926807641983, 0.8912163376808167, 0.044772714376449585, 0.21100054681301117, 0.30120956897735596, 1.1585146188735962, -0.05680583044886589, 1.2002307176589966, 0.45535674691200256, 1.2784218788146973, -0.10441377013921738, 1.3388923406600952, 0.6648126244544983, 0.036964405328035355, 1.2133055925369263, -0.123494453728199, 0.7941081523895264, 1.3050098419189453, 0.5627027153968811, -1.1068693399429321, 0.5441317558288574, -0.0005665587377734482, 5.292654918775952e-07, 0.08908841013908386, -0.7330624461174011], "std": [0.06354207545518875, 0.05419112741947174, 0.018225880339741707, 0.1117926761507988, 0.026678411290049553, 0.12054184079170227, 0.06516479700803757, 0.13095958530902863, 0.03156730905175209, 0.02889277972280979, 0.026194769889116287, 0.059925537556409836, 0.09219904989004135, 0.016464103013277054, 0.007319328375160694, 0.006630727089941502, 0.0619993694126606, 0.02824297733604908, 0.0074602048844099045, 0.006401782855391502, 0.0571364164352417, 0.03867529705166817, 0.00919981300830841, 0.008242106065154076, 0.06744016706943512, 0.06214705482125282, 0.027559449896216393, 0.008393781259655952, 0.007724606432020664, 0.12277660518884659, 0.18129763007164001, 0.022208040580153465, 0.19672967493534088, 0.3635958731174469, 0.15641383826732635, 0.21465034782886505, 0.15462814271450043, 0.08791033923625946, 0.16164527833461761, 0.08742384612560272, 0.18293412029743195, 0.18697945773601532, 0.026586413383483887, 0.1471865475177765, 0.14690320193767548, 0.20250946283340454, 0.03236763924360275, 0.248275026679039, 0.1470944583415985, 0.23202268779277802, 0.045651815831661224, 0.2700347900390625, 0.27709051966667175, 0.030485372990369797, 0.22229312360286713, 0.05028363689780235, 0.2710776627063751, 0.2621588408946991, 1.9284492736915126e-05, 6.8318818193802144e-06, 2.6614141461323015e-05, 0.0002567206684034318, 5.4396086852648295e-06, 0.019960030913352966, 0.030758360400795937], "count": [2679]}, "observation.state.tcp_pose": {"min": [0.36177751421928406, 0.18590229749679565, 0.9267289042472839, -1.2826675176620483, 1.2178641557693481, -1.506312370300293, 0.23176202178001404, -0.27985256910324097, 0.9344695806503296, -0.7005650997161865, 1.218017816543579, 0.299145370721817], "max": [0.42776724696159363, 0.21962425112724304, 1.051796793937683, -1.0736844539642334, 1.7333253622055054, -1.2289444208145142, 0.4754487872123718, -0.03838817775249481, 1.134683609008789, 1.208672046661377, 1.9316670894622803, 1.463094711303711], "mean": [0.41742953658103943, 0.1975002884864807, 0.9822391271591187, -1.1816754341125488, 1.5920261144638062, -1.4505460262298584, 0.40250587463378906, -0.1488550752401352, 1.0497890710830688, -0.19659358263015747, 1.704453468322754, 0.6809061765670776], "std": [0.008553026244044304, 0.0069844420067965984, 0.03350616618990898, 0.04488787055015564, 0.08656314015388489, 0.04026283696293831, 0.06088825315237045, 0.0633486956357956, 0.04914187267422676, 0.34821075201034546, 0.12285233289003372, 0.21209128201007843], "count": [2679]}, "action.tcp_pose": {"min": [0.36183062195777893, 0.18589924275875092, 0.9267080426216125, -1.282631754875183, 1.2180033922195435, -1.506292462348938, 0.23185913264751434, -0.2799571454524994, 0.934455931186676, -0.7012630105018616, 1.2180203199386597, 0.2991713583469391], "max": [0.42777663469314575, 0.21963810920715332, 1.0517892837524414, -1.073548674583435, 1.7331912517547607, -1.2290072441101074, 0.47524991631507874, -0.038386017084121704, 1.134554386138916, 1.2083690166473389, 1.9316356182098389, 1.4623323678970337], "mean": [0.4174354076385498, 0.19751644134521484, 0.9822418689727783, -1.1816803216934204, 1.5919160842895508, -1.450467824935913, 0.4025926887989044, -0.14908531308174133, 1.0503264665603638, -0.19648776948451996, 1.7025738954544067, 0.6811457872390747], "std": [0.008557218126952648, 0.007005363702774048, 0.033544570207595825, 0.04492136836051941, 0.0867612287402153, 0.04042436555027962, 0.06083780527114868, 0.0635448694229126, 0.04934266209602356, 0.3489324450492859, 0.12446335703134537, 0.21241138875484467], "count": [2679]}, "subtask_index": {"min": [54], "max": [2245], "mean": [2169.3281075027994], "std": [344.2265017495324], "count": [2679]}, "observation.tactile": {"min": [-0.016125496476888657, -4.349783557699993e-05, -9.420697460882366e-05, -0.001854950562119484, -6.907030183356255e-05, -0.0003537389275152236, -0.0024667163379490376, -5.472072371048853e-05, -0.00012589110701810569, -0.00047226084279827774, -1.3412724001682363e-05, -5.109732228447683e-05, -0.015549755655229092, -4.7805435315240175e-05, -0.00010505587124498561, -0.001255688606761396, -4.748214632854797e-05, -0.0003176742175128311, -0.006227896083146334, -3.687827120302245e-05, -8.106677705654874e-05, -0.0006831549108028412, -3.146441304124892e-05, -0.00013288426271174103, -0.012983369641005993, -4.72732717753388e-05, -0.00010635919170454144, -0.0011816028272733092, -3.606488826335408e-05, -0.00029635539976879954, -5.708136081695557, -4.037266262457706e-05, -9.057090937858447e-05, -0.41507458686828613, -0.0149645134806633, -0.11396930366754532, -10.416264533996582, -0.5256699323654175, -9.413240331923589e-05, -0.3722439408302307, -0.046156831085681915, -0.18978610634803772, -0.0043157972395420074, -5.061359843239188e-05, -0.00011103121505584568, -0.000875977159012109, -1.395874369336525e-05, -0.00010375847341492772, -0.02453901804983616, -5.7948702306021005e-05, -0.00013125718396622688, -0.00254551088437438, -7.163672125898302e-05, -0.0005459536914713681, -0.2919018268585205, -4.356925273896195e-05, -9.683413372840732e-05, -0.0015794590581208467, -0.0004573429760057479, -0.004460775293409824], "max": [0.006267561577260494, 0.03315429762005806, 0.09380216896533966, 1.7716472484607948e-06, 0.00021855543309357017, 5.4731546697439626e-05, 0.0003940314636565745, 0.00868286658078432, 0.024721870198845863, 2.170469997508917e-06, 7.084322714945301e-05, 7.778081453579944e-06, 0.010401584208011627, 0.022820724174380302, 0.06498299539089203, 1.964405555554549e-06, 0.0002833040780387819, 9.635245805839077e-05, 0.009548377245664597, 0.010927869938313961, 0.03374766185879707, 1.508712443865079e-06, 0.00020570446213241667, 0.0001286451588384807, 0.0017337375320494175, 0.019345099106431007, 0.05618642270565033, 1.995316097236355e-06, 0.00010618708620313555, 1.0682164429454133e-05, 10.28719711303711, 17.810380935668945, 28.03946876525879, 1.6440164927189471e-06, 0.06751488894224167, 0.17227979004383087, 1.4980518817901611, 16.26750373840332, 24.53455924987793, 1.7465428072682698e-06, 0.016711819916963577, 0.056476082652807236, 0.017911728471517563, 0.016558676958084106, 0.05397006869316101, 2.0409315766301006e-06, 0.0002864323905669153, 0.0002099135599564761, 0.05970596522092819, 0.04369254410266876, 0.14562128484249115, 2.4081684841803508e-06, 0.0008826511912047863, 0.0007880930206738412, 0.0018934978870674968, 0.050568610429763794, 0.1020875871181488, 1.7948551658264478e-06, 0.00010932237637462094, 7.1469717113359366e-06], "mean": [-0.0010704481974244118, 0.002816010033711791, 0.008249918930232525, -0.0001592438347870484, 6.0237643992877565e-06, -2.311945536348503e-05, 0.0003188552800565958, 3.594868758227676e-05, 0.00013686991587746888, -2.521972874092171e-06, -1.559111979076988e-06, 6.189385658217361e-06, -0.0014344609808176756, 0.0031737061217427254, 0.009324067272245884, -0.00016103281814139336, 1.924450771184638e-06, -2.506483724573627e-05, 1.0792956345540006e-05, 0.0004322047461755574, 0.001279905205592513, -1.9917953977710567e-05, 1.4494420774724404e-08, 1.197096139549103e-06, 4.3253781768726185e-05, 0.0005362062365747988, 0.0015921054873615503, -2.6394736778456718e-05, 1.840992808865849e-06, 8.610159625277447e-07, 2.318265438079834, 3.9948015213012695, 7.971963882446289, -0.13604037463665009, 0.016872363165020943, 0.03474622592329979, -2.9836690425872803, 2.1216907501220703, 8.500489234924316, -0.12856590747833252, -0.006499417591840029, -0.04453011974692345, 0.0004770112282130867, 0.001393369399011135, 0.004200519993901253, -6.374916847562417e-05, 1.822926424210891e-05, 2.8457259304559557e-06, -0.00024832089547999203, 0.0012605396332219243, 0.0038274202961474657, -6.694727198919281e-05, 4.966343567502918e-06, -6.541030415974092e-06, -0.0004546850104816258, 0.000804124167189002, 0.0022865093778818846, -3.5875942558050156e-05, 2.146224005628028e-06, -6.529217898787465e-06], "std": [0.00220000883564353, 0.004721035715192556, 0.013653215952217579, 0.0002872591430786997, 2.2507156245410442e-05, 5.019656600779854e-05, 0.0002614239929243922, 0.000464826007373631, 0.0013419704046100378, 2.4646091333124787e-05, 2.7207490802538814e-06, 5.52557594346581e-06, 0.0020251544192433357, 0.0034121123608201742, 0.009979753755033016, 0.00017724295321386307, 1.6109246644191444e-05, 3.55716583726462e-05, 0.0006536959554068744, 0.001044167554937303, 0.003065972588956356, 5.111152495373972e-05, 9.209471500071231e-06, 1.1037674084946048e-05, 0.0009382248972542584, 0.0016720409039407969, 0.004870599135756493, 9.091346873901784e-05, 1.0295692845829763e-05, 2.0819727069465443e-05, 2.71372652053833, 4.14232063293457, 7.77634334564209, 0.13246767222881317, 0.019568337127566338, 0.04761254042387009, 3.005378007888794, 2.5053999423980713, 6.928191184997559, 0.10526281595230103, 0.010947310365736485, 0.04675854369997978, 0.0011267713271081448, 0.002330371644347906, 0.006996119394898415, 0.00011153810191899538, 3.575954906409606e-05, 1.3315207070263568e-05, 0.002491370076313615, 0.002979027107357979, 0.009026940912008286, 0.00017302371270488948, 2.9495062335627154e-05, 4.5485950977308676e-05, 0.010698017664253712, 0.0023363973014056683, 0.005564000923186541, 9.314899216406047e-05, 1.8209619156550616e-05, 0.00015815907681826502], "count": [2679]}, "timestamp": {"min": [0.0], "max": [89.26666666666667], "mean": [44.63333333333333], "std": [25.778687723403237], "count": [2679]}, "frame_index": {"min": [0], "max": [2678], "mean": [1339.0], "std": [773.3606317020971], "count": [2679]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [2679]}, "index": {"min": [106494], "max": [109172], "mean": [107833.0], "std": [773.3606317020971], "count": [2679]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2679]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5626882314682007]], [[0.5633490085601807]], [[0.5643144249916077]]], "std": [[[0.2989990711212158]], [[0.2981413006782532]], [[0.2987119257450104]]], "count": [2679]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3016536235809326]], [[0.30561885237693787]], [[0.30379360914230347]]], "std": [[[0.18130992352962494]], [[0.1818881779909134]], [[0.18242710828781128]]], "count": [2679]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3095099925994873]], [[0.313081294298172]], [[0.31053850054740906]]], "std": [[[0.1836719512939453]], [[0.18369047343730927]], [[0.18332596123218536]]], "count": [2679]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5670170187950134]], [[0.5673554539680481]], [[0.5677865147590637]]], "std": [[[0.3061847686767578]], [[0.30566689372062683]], [[0.30648717284202576]]], "count": [2679]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7098039388656616]], [[0.7098039388656616]], [[0.7098039388656616]]], "mean": [[[0.004849115386605263]], [[0.004849115386605263]], [[0.004849115386605263]]], "std": [[[0.044770196080207825]], [[0.044770196080207825]], [[0.044770196080207825]]], "count": [2679]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.490724116563797]], [[0.490724116563797]], [[0.490724116563797]]], "std": [[[0.2216685712337494]], [[0.2216685712337494]], [[0.2216685712337494]]], "count": [2679]}}}
+{"episode_index": 42, "stats": {"observation.state": {"min": [1.0500283241271973, -0.7798501253128052, -0.22511419653892517, 1.119500756263733, 3.5113782359985635e-05, -0.769358217716217, 0.23719128966331482, 0.006893911864608526, -0.0007713111699558794, -0.2509672939777374, 0.003987329546362162, 0.003536055563017726, 0.00362206413410604, -0.08815193921327591, 0.00349811720661819, 0.0008207757491618395, -6.966973160160705e-05, -0.12451706826686859, 0.0030123661272227764, 0.0008345218957401812, -0.003184666857123375, -0.026932308450341225, 0.002776581794023514, 0.0008442771504633129, 0.00570388650521636, -0.0028076213784515858, -0.02594222128391266, 0.0024035817477852106, 0.0008602404268458486, 1.0501244068145752, -1.1395164728164673, -0.24275892972946167, 0.9902166128158569, -1.7642664909362793, -0.7696089744567871, -0.21781112253665924, 0.0054470510222017765, -0.08345776051282883, -0.20672066509723663, -0.14993928372859955, 0.0032641058787703514, 0.005411630962044001, -0.126692995429039, 0.0037757400423288345, 0.000859353574924171, -0.0017549777403473854, -0.09803125262260437, 0.0046617924235761166, 0.0014588612830266356, -0.0016575882909819484, -0.14127203822135925, 0.0035700935404747725, 0.00085270224371925, 0.006286156363785267, -0.001890636282041669, -0.1604412943124771, 0.0032130489125847816, 0.0008558061672374606, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.000862864195369184, -9.58738019107841e-05, 0.0, -0.7458022832870483], "max": [1.277770757675171, -0.620233952999115, -0.00023632892407476902, 1.569559931755066, 0.1386341154575348, 0.04557133466005325, 0.5234107971191406, 1.3372384309768677, 0.29664596915245056, 0.00034850294468924403, 0.2789022922515869, 0.5490891933441162, 0.400949627161026, 0.10756584256887436, 0.03383735194802284, 0.036161135882139206, 0.2774515748023987, 0.20000220835208893, 0.06094864755868912, 0.03619084879755974, 0.01843118481338024, 0.19858773052692413, 0.0028347300831228495, 0.0037540181074291468, 0.24085302650928497, 0.02712513692677021, 0.2604358494281769, 0.002448256593197584, 0.00375712220557034, 1.3969959020614624, -0.33274734020233154, -0.00016202672850340605, 1.7871298789978027, 0.16396000981330872, -0.05658915266394615, 0.6770825982093811, 1.3712610006332397, 0.2887669801712036, 0.351136177778244, 0.22512030601501465, 0.35013970732688904, 1.1121115684509277, 0.12297254055738449, 0.5597313642501831, 0.2930639386177063, 1.45650315284729, 0.2605518698692322, 1.4643819332122803, 0.9699077606201172, 1.4581983089447021, 0.265593558549881, 1.5298759937286377, 0.8999130129814148, 0.14838561415672302, 1.3364155292510986, 0.2725021243095398, 1.2159322500228882, 1.3113141059875488, 0.5627791881561279, -1.1066712141036987, 0.5443714261054993, 9.58738019107841e-05, 0.0001917476038215682, 0.11533617973327637, -0.5997864603996277], "mean": [1.1980175971984863, -0.6621525883674622, -0.2226925939321518, 1.1851494312286377, 0.13141505420207977, -0.07220098376274109, 0.2886201739311218, 1.3000307083129883, 0.2883606553077698, -0.13408854603767395, 0.2670825123786926, 0.5372692942619324, 0.3324297070503235, 0.09620929509401321, 0.028550859540700912, 0.029660532251000404, 0.18740461766719818, 0.17781127989292145, 0.048915524035692215, 0.02630976028740406, 0.0049840486608445644, 0.16983185708522797, 0.002807979006320238, 0.0015521676978096366, 0.22482679784297943, 0.006404738873243332, 0.2379765808582306, 0.002424817066639662, 0.001962423324584961, 1.2438273429870605, -0.5816031098365784, -0.23070305585861206, 1.2479825019836426, -1.27743661403656, -0.30937260389328003, 0.04632670432329178, 1.2519605159759521, 0.07718319445848465, 0.03011498972773552, -0.06423742324113846, 0.12327919900417328, 0.8779459595680237, 0.06494370847940445, 0.1850997805595398, 0.1711968034505844, 1.1525797843933105, -0.03228199481964111, 1.248524785041809, 0.722637951374054, 1.2731373310089111, -0.08612989634275436, 1.293439507484436, 0.631574273109436, 0.04858819767832756, 1.1533124446868896, -0.10494031012058258, 0.7156663537025452, 1.1833363771438599, 0.5627007484436035, -1.1068613529205322, 0.5440781116485596, -0.0005173815879970789, 7.1869408202474e-08, 0.08027391880750656, -0.7067615985870361], "std": [0.03288201242685318, 0.021525925025343895, 0.019260596483945847, 0.04799915850162506, 0.01799788326025009, 0.10048314183950424, 0.05463368445634842, 0.13394282758235931, 0.03229120373725891, 0.02287340722978115, 0.030039416626095772, 0.06312982738018036, 0.06055079400539398, 0.019467255100607872, 0.004934285301715136, 0.00527888722717762, 0.06285792589187622, 0.0331057608127594, 0.01245589554309845, 0.006346048787236214, 0.005851703230291605, 0.03228103742003441, 7.69265170674771e-06, 0.00031349441269412637, 0.03678654134273529, 0.007148941047489643, 0.037264421582221985, 6.567334821738768e-06, 0.0007864656508900225, 0.10239997506141663, 0.166900634765625, 0.021523194387555122, 0.19791989028453827, 0.3973413109779358, 0.1106037124991417, 0.18741141259670258, 0.14518509805202484, 0.06573060899972916, 0.09771996736526489, 0.05946432426571846, 0.08479198813438416, 0.18635612726211548, 0.033717524260282516, 0.10577897727489471, 0.07195837795734406, 0.2092074453830719, 0.035025455057621, 0.264421284198761, 0.21133697032928467, 0.2380753755569458, 0.04748504236340523, 0.2733343839645386, 0.17604099214076996, 0.018514936789870262, 0.2274463027715683, 0.052421968430280685, 0.21907669305801392, 0.283286988735199, 3.098461093031801e-05, 3.5781486076302826e-05, 4.384050771477632e-05, 0.0001509557623649016, 6.429550012398977e-06, 0.019877824932336807, 0.02699941024184227], "count": [2668]}, "observation.state.joint_torque": {"min": [-36.64350128173828, -8.418000221252441, -18.499000549316406, -6.6539998054504395, -0.46000000834465027, -1.4808000326156616, 0.979200005531311, -0.6787901520729065, -0.24706435203552246, -0.43121328949928284, -0.32682737708091736, -0.11289741843938828, -0.5190701484680176, -0.744544267654419, -0.06807050108909607, -0.04066966846585274, -0.3732316195964813, -0.5718406438827515, -0.1145576685667038, -0.033534638583660126, -0.14583855867385864, -0.6015840768814087, -0.0016602561809122562, -0.03496164828538895, -0.09587664157152176, -0.13432498276233673, -0.5651243925094604, -0.0016602561809122562, -0.028540121391415596, 10.18649959564209, -6.896999835968018, -1.7410000562667847, -7.585000038146973, -2.075200080871582, -3.188800096511841, -3.391200065612793, -2.023635149002075, -0.8010488152503967, -0.42127174139022827, -1.4328211545944214, -0.18262816965579987, -0.43175891041755676, -0.8203418850898743, -0.17266662418842316, -0.06778278201818466, -1.5994268655776978, -1.1005054712295532, -0.11953844130039215, -0.027826614677906036, -0.893261194229126, -0.4787726402282715, -0.11289741843938828, -0.04851820319890976, -0.28191250562667847, -1.4929263591766357, -0.5756784677505493, -0.5927114486694336, -0.044950686395168304, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.476999282836914, 8.500499725341797, -9.869999885559082, 3.367000102996826, 1.4975999593734741, 1.0160000324249268, 2.5495998859405518, 0.5705403685569763, 0.35022008419036865, 0.3790203332901001, 0.35416650772094727, 0.08467306196689606, 0.3473260700702667, 0.22643356025218964, 0.059769220650196075, 0.016410568729043007, 0.3521233797073364, 0.3665153682231903, 0.14278201758861542, 0.012843053787946701, 0.27152836322784424, 0.42983996868133545, 0.0016602561809122562, 0.009275538846850395, 0.06553036719560623, 0.19093337655067444, 0.3626774847507477, -0.0, 0.009989041835069656, 39.33449935913086, 7.578000068664551, 22.156999588012695, 2.4749999046325684, 0.5759999752044678, 3.458400011062622, 3.2799999713897705, 2.8756251335144043, 5.010056972503662, 2.2604522705078125, 1.3321632146835327, 0.8483908772468567, 2.15207839012146, 1.4353585243225098, 1.0592433214187622, 0.21333740651607513, 0.8078688979148865, 0.27632570266723633, 0.4250255823135376, 0.04423718526959419, 0.7992336750030518, 0.6399626135826111, 0.42668578028678894, 0.05422622710466385, 0.1262229084968567, 0.8174634575843811, 0.4586239159107208, 0.38351914286613464, 0.08133933693170547, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.797727584838867, 1.9073452949523926, -13.439703941345215, -1.565310001373291, -0.0059051960706710815, -0.22677914798259735, 1.6331545114517212, 0.00043150983401574194, -0.0033126992639154196, 0.017772682011127472, 0.011949569918215275, 0.00047418056055903435, 0.031139573082327843, 0.015055842697620392, 0.0011306925443932414, 0.00039018032839521766, 0.02361655794084072, 0.0008886229479685426, 0.003973299637436867, 0.000301927822874859, 0.01457033772021532, 0.02563161961734295, 3.1114243483898463e-06, -0.003842160804197192, -0.003569346619769931, 0.004883971530944109, 0.01493605226278305, -6.222849151527043e-07, -0.002216193126514554, 27.208635330200195, 0.9188521504402161, 12.23640251159668, -1.7444363832473755, -0.4375484883785248, 1.3651443719863892, -0.9052535891532898, 0.30148082971572876, 1.5626513957977295, 0.41743147373199463, 0.13871033489704132, 0.15820610523223877, 1.0743740797042847, -0.0028845048509538174, 0.4753815233707428, 0.10708502680063248, -0.12433036416769028, -0.14612099528312683, -0.0011618073331192136, -0.000147354367072694, 0.0021343345288187265, -0.007773169782012701, -0.0006926011410541832, -0.0023253022227436304, 0.003497786121442914, -0.00802886113524437, 0.0006350853946059942, -0.022803615778684616, 0.004244612529873848, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6351336240768433, 0.7969231605529785, 0.4703507423400879, 0.6149573922157288, 0.19684962928295135, 0.3620600402355194, 0.16899487376213074, 0.03435427322983742, 0.020375153049826622, 0.04786358028650284, 0.04326513037085533, 0.007007049396634102, 0.058501917868852615, 0.05096688121557236, 0.006903252098709345, 0.003979797475039959, 0.05211839824914932, 0.049197692424058914, 0.015588796697556973, 0.0035393135622143745, 0.03433099016547203, 0.054012883454561234, 9.637802577344701e-05, 0.007054049987345934, 0.011923804879188538, 0.019913388416171074, 0.05073624849319458, 3.213756644981913e-05, 0.005427519325166941, 4.548862934112549, 1.9336912631988525, 2.3564915657043457, 1.6808222532272339, 0.3343625068664551, 0.8346602320671082, 0.7066593766212463, 0.7197791934013367, 1.6511927843093872, 0.5286712646484375, 0.3453034460544586, 0.1849520206451416, 0.9762924313545227, 0.21614351868629456, 0.45574989914894104, 0.09877554327249527, 0.2804689109325409, 0.21204879879951477, 0.02826521173119545, 0.009236122481524944, 0.07826351374387741, 0.06785070896148682, 0.031116021797060966, 0.010218669660389423, 0.026801181957125664, 0.12929263710975647, 0.10369019955396652, 0.05453938990831375, 0.007962429895997047, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2668]}, "observation.state.tcp": {"min": [0.3617331087589264, 0.1924368441104889, 0.9766230583190918, -1.3475526571273804, 1.2180896997451782, -1.5368818044662476, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25547465682029724, -0.2756582200527191, 0.9567497968673706, -0.69664466381073, 1.2179063558578491, 0.4541511535644531, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4245474934577942, 0.22644931077957153, 1.0631831884384155, -1.1141293048858643, 1.8185278177261353, -1.2292709350585938, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4652649462223053, -0.054554879665374756, 1.1371127367019653, 1.2085850238800049, 1.9671292304992676, 1.440682291984558, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41556498408317566, 0.21241925656795502, 1.0089036226272583, -1.298558235168457, 1.6869375705718994, -1.4634227752685547, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4029473662376404, -0.14419537782669067, 1.0432552099227905, -0.19833792746067047, 1.7203927040100098, 0.743607223033905, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.006637319922447205, 0.0055068740621209145, 0.01727052591741085, 0.0349779836833477, 0.09161598235368729, 0.03812578693032265, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05451944097876549, 0.060914546251297, 0.04746299982070923, 0.389297753572464, 0.12995417416095734, 0.1982191503047943, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2668]}, "action": {"min": [1.0507644414901733, -0.7794728875160217, -0.2251116931438446, 1.1195087432861328, 0.00018697265477385372, -0.7676398158073425, 0.23721493780612946, 0.0, 0.0, -0.2581561803817749, 0.0, 0.0, 0.0, -0.10143834352493286, 0.0, 0.0, 0.0, -0.13895273208618164, 0.0, 0.0, 0.0, -0.11634474992752075, 0.0, 0.0, 0.0, 0.0, -0.05343649908900261, 0.0, 0.0, 1.0508919954299927, -1.139593482017517, -0.24275167286396027, 0.990182101726532, -1.7642760276794434, -0.7678899765014648, -0.21808622777462006, 0.0, -0.08933617919683456, -0.20731301605701447, -0.15073928236961365, 0.0, 0.0, -0.12687796354293823, 0.0, 0.0, 0.0, -0.09869574010372162, 0.0, 0.0, 0.0, -0.14149382710456848, 0.0, 0.0, -9.505783715724192e-09, 0.0, -0.16094285249710083, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440801382064819, -0.0008728739339858294, -1.2643217814911623e-05, -1.434836920393465e-17, -0.74590003490448], "max": [1.2784148454666138, -0.6202053427696228, -0.0012143601197749376, 1.5683722496032715, 0.13863088190555573, 0.04557152837514877, 0.5234763026237488, 1.3478784561157227, 0.2936975359916687, 0.0, 0.2804880440235138, 0.5560974478721619, 0.4089165925979614, 0.11157963424921036, 0.039232123643159866, 0.03778601437807083, 0.2827078104019165, 0.20394614338874817, 0.06542567908763885, 0.03716002404689789, 0.019050482660531998, 0.21051645278930664, 0.004847903270274401, 0.004758220631629229, 0.26180002093315125, 0.029331063851714134, 0.2642112970352173, 0.008268495090305805, 0.008074533194303513, 1.3969860076904297, -0.3326866328716278, -0.0018086666241288185, 1.787284016609192, 0.16393771767616272, -0.0565035454928875, 0.6771786212921143, 1.370216727256775, 0.2922463119029999, 0.3521055281162262, 0.24158194661140442, 0.3556373119354248, 1.159932255744934, 0.12346461415290833, 0.5669834613800049, 0.31229087710380554, 1.5111260414123535, 0.2651495933532715, 1.4678560495376587, 0.9707317352294922, 1.5053069591522217, 0.26723697781562805, 1.533862590789795, 0.9018821716308594, 0.15717948973178864, 1.3427928686141968, 0.2754354178905487, 1.2194595336914062, 1.393632173538208, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 5.0271029310857955e-20, 1.1363282283127774e-05, 0.11569667607545853, -0.6000000238418579], "mean": [1.1980907917022705, -0.6621646285057068, -0.22270406782627106, 1.1852058172225952, 0.13141299784183502, -0.07232064008712769, 0.28869566321372986, 1.309084177017212, 0.2890535295009613, -0.13105586171150208, 0.2697738707065582, 0.5431895852088928, 0.33918139338493347, 0.09758570790290833, 0.03375748172402382, 0.03299570828676224, 0.19195163249969482, 0.1796882599592209, 0.05227521061897278, 0.029947105795145035, 0.004720127675682306, 0.17680780589580536, 0.0013193220365792513, 0.0012945402413606644, 0.23869413137435913, 0.008419230580329895, 0.2434530258178711, 0.0029118810780346394, 0.002881622640416026, 1.2445976734161377, -0.582156240940094, -0.23072750866413116, 1.2485299110412598, -1.2781097888946533, -0.31022241711616516, 0.0466703325510025, 1.2544845342636108, 0.08381650596857071, 0.029453987255692482, -0.06419064104557037, 0.12442732602357864, 0.8989893794059753, 0.06426737457513809, 0.19881565868854523, 0.19760508835315704, 1.1510677337646484, -0.031743161380290985, 1.247292399406433, 0.722395658493042, 1.2718281745910645, -0.08526898920536041, 1.292144775390625, 0.6313120722770691, 0.05194646492600441, 1.1521196365356445, -0.10447802394628525, 0.7130704522132874, 1.200302243232727, 0.5627025365829468, -1.106869101524353, 0.5441443920135498, -0.0005583038437180221, 7.976371421136719e-07, 0.08031222969293594, -0.7067968845367432], "std": [0.03283555060625076, 0.02154761552810669, 0.01921411231160164, 0.04815207049250603, 0.01801474578678608, 0.10083524882793427, 0.05475020781159401, 0.14352482557296753, 0.03160940855741501, 0.02308957464993, 0.029775351285934448, 0.06217777356505394, 0.059188682585954666, 0.019932031631469727, 0.005178872030228376, 0.004861792549490929, 0.06221313774585724, 0.032302651554346085, 0.011394425295293331, 0.006439828313887119, 0.0057896813377738, 0.03310124948620796, 0.0015576754231005907, 0.0015279918443411589, 0.0461050383746624, 0.00909603200852871, 0.035861872136592865, 0.0028143604286015034, 0.002771303988993168, 0.10251007229089737, 0.16749945282936096, 0.021411484107375145, 0.19857323169708252, 0.3963760733604431, 0.11114466190338135, 0.18791328370571136, 0.1525130718946457, 0.06983843445777893, 0.09754172712564468, 0.0604315847158432, 0.08688414096832275, 0.197357639670372, 0.027291875332593918, 0.11477630585432053, 0.08650585263967514, 0.20870207250118256, 0.0357622429728508, 0.2640951871871948, 0.21135179698467255, 0.23809529840946198, 0.04784006252884865, 0.27338629961013794, 0.1761927753686905, 0.019716901704669, 0.22728438675403595, 0.0525498129427433, 0.2191029191017151, 0.2912702262401581, 1.9110455468762666e-05, 6.56616612104699e-06, 2.4002109057619236e-05, 0.00015024411550257355, 5.564724688156275e-06, 0.019925234839320183, 0.027045877650380135], "count": [2668]}, "observation.state.tcp_pose": {"min": [0.3617331087589264, 0.1924368441104889, 0.9766230583190918, -1.3475526571273804, 1.2180896997451782, -1.5368818044662476, 0.25547465682029724, -0.2756582200527191, 0.9567497968673706, -0.69664466381073, 1.2179063558578491, 0.4541511535644531], "max": [0.4245474934577942, 0.22644931077957153, 1.0631831884384155, -1.1141293048858643, 1.8185278177261353, -1.2292709350585938, 0.4652649462223053, -0.054554879665374756, 1.1371127367019653, 1.2085850238800049, 1.9671292304992676, 1.440682291984558], "mean": [0.41556498408317566, 0.21241925656795502, 1.0089036226272583, -1.298558235168457, 1.6869375705718994, -1.4634227752685547, 0.4029473662376404, -0.14419537782669067, 1.0432552099227905, -0.19833792746067047, 1.7203927040100098, 0.743607223033905], "std": [0.006637319922447205, 0.0055068740621209145, 0.01727052591741085, 0.0349779836833477, 0.09161598235368729, 0.03812578693032265, 0.05451944097876549, 0.060914546251297, 0.04746299982070923, 0.389297753572464, 0.12995417416095734, 0.1982191503047943], "count": [2668]}, "action.tcp_pose": {"min": [0.362080454826355, 0.19248078763484955, 0.9765956401824951, -1.3476171493530273, 1.2189464569091797, -1.5368465185165405, 0.2554042935371399, -0.27640244364738464, 0.9567391872406006, -0.696661114692688, 1.2187753915786743, 0.45413583517074585], "max": [0.42404231429100037, 0.2264104038476944, 1.063591480255127, -1.1141257286071777, 1.818403959274292, -1.2299550771713257, 0.4652767479419708, -0.05453398451209068, 1.1375871896743774, 1.2084228992462158, 1.9671828746795654, 1.440764307975769], "mean": [0.41558340191841125, 0.2124185860157013, 1.0089110136032104, -1.298527479171753, 1.6868038177490234, -1.4634361267089844, 0.4030052423477173, -0.14429333806037903, 1.0437092781066895, -0.19919422268867493, 1.7187492847442627, 0.743573009967804], "std": [0.006633215583860874, 0.0055154720321297646, 0.017338449135422707, 0.03522433713078499, 0.09187804907560349, 0.03822071850299835, 0.05454537644982338, 0.060949746519327164, 0.04767681285738945, 0.38795310258865356, 0.13151243329048157, 0.1981288641691208], "count": [2668]}, "subtask_index": {"min": [54], "max": [2312], "mean": [2231.613568215892], "std": [325.24312356466265], "count": [2668]}, "observation.tactile": {"min": [-0.014228777028620243, -4.1771887481445447e-05, -9.108157973969355e-05, -0.0018163855420425534, -0.00013492297148332, -0.00023498502559959888, -0.003980502486228943, -4.6636880142614245e-05, -0.00010835003922693431, -0.0006672852323390543, -1.1530276424309704e-05, -9.181334462482482e-05, -0.014920203946530819, -4.722144512925297e-05, -0.00010468347318237647, -0.0011624968610703945, -5.2360413974383846e-05, -0.0003132364072371274, -0.02534751407802105, -3.312066110083833e-05, -7.210781768662855e-05, -0.001879424904473126, -1.5204767805698793e-05, -0.0005700458423234522, -0.006706814281642437, -4.7165249270619825e-05, -0.00010588595614535734, -0.0010682643624022603, -7.957757043186575e-05, -0.00012695963960140944, -12.391641616821289, -4.100509249838069e-05, -9.282572864321992e-05, -0.3876919150352478, -0.030524754896759987, -0.13819177448749542, -6.376322269439697, -0.8089190721511841, -9.978674643207341e-05, -0.2429877072572708, -0.047513581812381744, -0.11894363909959793, -0.013489716686308384, -4.8413108743261546e-05, -0.00010725262109190226, -0.001354385749436915, -4.880916094407439e-05, -0.00026763632195070386, -0.02514197677373886, -5.968321056570858e-05, -0.0001344108022749424, -0.0021444896701723337, -8.554824307793751e-05, -0.00047398643800988793, -0.3318288326263428, -4.602115950547159e-05, -0.00010234415822196752, -0.0010483689839020371, -0.0002447517472319305, -0.0048276400193572044], "max": [0.0028491844423115253, 0.02547513134777546, 0.07341872900724411, 1.7309412214672193e-06, 0.0002425303537165746, 6.932344604138052e-06, 0.0011652680113911629, 0.010978303849697113, 0.03184816241264343, 1.839075821408187e-06, 0.00012135965516790748, 6.7014320848102216e-06, 0.0061358860693871975, 0.02063347026705742, 0.06058179959654808, 1.9621743376774248e-06, 0.00022454011195804924, 6.503039185190573e-05, 0.0032150198239833117, 0.03320170193910599, 0.09541130065917969, 1.3319217941898387e-06, 0.00019283870642539114, 1.9344994143466465e-05, 0.008729240857064724, 0.02130938321352005, 0.06224525719881058, 1.9898070604540408e-06, 0.0003142913628835231, 5.230843817116693e-05, 10.276058197021484, 29.322355270385742, 22.795875549316406, 1.7059649053408066e-06, 0.08936302363872528, 0.1760920286178589, 9.908278465270996, 9.239236831665039, 15.19888973236084, 1.8819114302459639e-06, 0.020297328010201454, 0.21462705731391907, 0.00470332894474268, 0.02246556431055069, 0.06738000363111496, 1.9501085262163542e-06, 0.00018672869191505015, 5.7887107686838135e-05, 0.12409882992506027, 0.040681999176740646, 0.1005890965461731, 2.4680998649273533e-06, 0.0006800064584240317, 0.0021172533743083477, 0.0019748881459236145, 0.036310624331235886, 0.06451884657144547, 1.9128990516037447e-06, 0.00033627505763433874, 1.852440800576005e-05], "mean": [-0.0010650467593222857, 0.0025856352876871824, 0.0077028339728713036, -0.00010928435949608684, 6.855039828224108e-06, -1.72211293829605e-05, -2.769098682620097e-05, 0.0004635262303054333, 0.0013771266676485538, -2.661272810655646e-05, 2.6148370579903712e-06, -1.933128032760578e-06, -0.00015695650654379278, 0.0008345600217580795, 0.002468797843903303, -4.745986370835453e-05, 1.878684315670398e-06, -3.731049673660891e-06, -0.005157776642590761, 0.007068059407174587, 0.020597893744707108, -0.0004070493159815669, 3.897399437846616e-05, -0.00011471283505670726, -7.564528641523793e-05, 0.001963832648470998, 0.005679048132151365, -8.449673623545095e-05, 1.5330049791373312e-05, -5.095577762403991e-06, 2.511340379714966, 3.401606321334839, 8.075898170471191, -0.13588756322860718, 0.015531308017671108, 0.03939954563975334, -1.654295563697815, 0.9248720407485962, 5.328615665435791, -0.08026732504367828, -0.0035192505456507206, -0.024769624695181847, -0.0001946290285559371, 0.001276811701245606, 0.0038461312651634216, -7.991202437551692e-05, 6.013517577230232e-06, -6.461067187046865e-06, -0.003107944270595908, 0.0070002577267587185, 0.02071496658027172, -0.0004314270045142621, 1.0213902896794025e-05, -6.871410005260259e-05, -0.0005519766127690673, 0.00030576554127037525, 0.0008544957381673157, -1.611575498827733e-05, 8.109940807798921e-08, -7.845746040402446e-06], "std": [0.0019387718057259917, 0.0031739852856844664, 0.0093455845490098, 0.00013992849562782794, 3.294716952950694e-05, 3.030611333088018e-05, 0.000593910866882652, 0.0010320763103663921, 0.003001371631398797, 5.7923360145650804e-05, 8.00289762992179e-06, 1.3563933862315025e-05, 0.0013306232867762446, 0.0022217079531401396, 0.006489403545856476, 0.00013003151980228722, 1.2619822882697918e-05, 2.7710651920642704e-05, 0.005588960368186235, 0.007566347252577543, 0.021985631436109543, 0.0004379163437988609, 4.05657738156151e-05, 0.00012271307059563696, 0.0009485993068665266, 0.0031180542428046465, 0.008981311693787575, 0.00013709085760638118, 3.3271404390688986e-05, 1.7924261555890553e-05, 3.061976194381714, 3.556631326675415, 7.187880516052246, 0.12175845354795456, 0.023363344371318817, 0.050045840442180634, 2.0313854217529297, 1.3895360231399536, 4.847692012786865, 0.07283512502908707, 0.00862505566328764, 0.03238227218389511, 0.0013954266905784607, 0.002999933436512947, 0.008901901543140411, 0.0001901161012938246, 2.161198790417984e-05, 3.0877130484441295e-05, 0.005311374552547932, 0.007357902359217405, 0.021702835336327553, 0.0004527332494035363, 3.978556924266741e-05, 0.00010548355203354731, 0.01265779696404934, 0.0017092244233936071, 0.0038970571476966143, 7.059429481159896e-05, 1.6147203496075235e-05, 0.00019630581664387137], "count": [2668]}, "timestamp": {"min": [0.0], "max": [88.9], "mean": [44.44999999999999], "std": [25.672840166647365], "count": [2668]}, "frame_index": {"min": [0], "max": [2667], "mean": [1333.5], "std": [770.1852049994209], "count": [2668]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2668]}, "index": {"min": [109173], "max": [111840], "mean": [110506.5], "std": [770.1852049994209], "count": [2668]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2668]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5647681951522827]], [[0.5653647780418396]], [[0.5659400820732117]]], "std": [[[0.2999941408634186]], [[0.2991939187049866]], [[0.2998672425746918]]], "count": [2668]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30111050605773926]], [[0.3049246668815613]], [[0.30325081944465637]]], "std": [[[0.18153685331344604]], [[0.18225707113742828]], [[0.18287226557731628]]], "count": [2668]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30967390537261963]], [[0.3133412003517151]], [[0.31068530678749084]]], "std": [[[0.1841149777173996]], [[0.1834852397441864]], [[0.18330344557762146]]], "count": [2668]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5671873092651367]], [[0.5674650073051453]], [[0.5676287412643433]]], "std": [[[0.3050955533981323]], [[0.30459627509117126]], [[0.3054828643798828]]], "count": [2668]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7450980544090271]], [[0.7450980544090271]], [[0.7450980544090271]]], "mean": [[[0.004154509864747524]], [[0.004154509864747524]], [[0.004154509864747524]]], "std": [[[0.04099978879094124]], [[0.04099978879094124]], [[0.04099978879094124]]], "count": [2668]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4911445379257202]], [[0.4911445379257202]], [[0.4911445379257202]]], "std": [[[0.22184334695339203]], [[0.22184334695339203]], [[0.22184334695339203]]], "count": [2668]}}}
+{"episode_index": 43, "stats": {"observation.state": {"min": [1.0502393245697021, -0.7796200513839722, -0.22502095997333527, 1.050926923751831, 8.556736429454759e-05, -0.7684934735298157, 0.09728758037090302, 0.0068980674259364605, -0.0001859167095972225, -0.24870163202285767, 0.0054286932572722435, 0.0034942172933369875, 8.144442836055532e-05, -0.10763135552406311, 0.0035030811559408903, 0.0008323047659359872, -0.001139974920079112, -0.08815095573663712, 0.0029790373519062996, 0.0008172283414751291, -0.003138304688036442, -0.02692936547100544, 0.0027879278641194105, 0.0008540325216017663, 0.00544486241415143, -0.00307452236302197, 0.004489494953304529, 0.002302176784723997, 0.0008535890956409276, 1.050196647644043, -1.1950287818908691, -0.24285180866718292, 1.052242636680603, -1.8612074851989746, -0.7693806290626526, -0.34318768978118896, 0.005617790389806032, -0.13311241567134857, -0.24829727411270142, -0.21808300912380219, 0.0032534687779843807, 0.005235986318439245, -0.1177186667919159, 0.0035700935404747725, 0.0008779773488640785, 0.005284558050334454, -0.12512445449829102, 0.0064264521934092045, 0.0008655614801682532, -0.0017375611932948232, -0.1643919050693512, 0.003879981581121683, 0.000854919315315783, 0.007468891330063343, -0.002083210041746497, -0.183144673705101, 0.0032424775417894125, 0.0008793076267465949, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0007669904152862728, -9.58738019107841e-05, -0.02358495444059372, -0.7298872470855713], "max": [1.253183126449585, -0.5822762250900269, -0.0005517537356354296, 1.5688709020614624, 0.21179084479808807, 0.1373652219772339, 0.5622307658195496, 1.4033966064453125, 0.2961686849594116, 0.0019220702815800905, 0.2723790109157562, 0.6399083137512207, 0.6009878516197205, 0.11870582401752472, 0.04539397358894348, 0.04547789320349693, 0.49541568756103516, 0.22480519115924835, 0.06096850708127022, 0.045470356941223145, 0.23995088040828705, 0.23792313039302826, 0.03013571724295616, 0.02700844407081604, 0.24097396433353424, 0.15401044487953186, 0.24516773223876953, 0.022724997252225876, 0.026967648416757584, 1.4263238906860352, -0.3488711714744568, -0.0002666490036062896, 1.8856709003448486, 0.095025435090065, -0.03518664091825485, 0.6856423616409302, 1.3974651098251343, 0.27857646346092224, 0.37756162881851196, 0.2599171996116638, 0.6192774176597595, 1.179842472076416, 0.07864256948232651, 0.6108799576759338, 0.2820989787578583, 1.2953364849090576, 0.16122636198997498, 1.377808928489685, 0.628606915473938, 1.4061274528503418, 0.1850365847349167, 1.4968152046203613, 0.9834614396095276, 0.12489361315965652, 1.3024519681930542, 0.17905262112617493, 1.377018690109253, 1.3081742525100708, 0.5627791881561279, -1.1066712141036987, 0.5443714261054993, 9.58738019107841e-05, 9.58738019107841e-05, 0.09309346228837967, -0.599307119846344], "mean": [1.1694300174713135, -0.6185428500175476, -0.2226913571357727, 1.0912264585494995, 0.15834325551986694, 0.05507276952266693, 0.2801628112792969, 1.365824818611145, 0.29030078649520874, -0.10616020113229752, 0.23050367832183838, 0.6079204678535461, 0.5163453817367554, 0.1019953265786171, 0.04088573902845383, 0.0406416691839695, 0.3780182898044586, 0.18554231524467468, 0.05403577536344528, 0.03939647227525711, 0.16999350488185883, 0.20168538391590118, 0.022998113185167313, 0.021871253848075867, 0.06521725654602051, 0.12424429506063461, 0.21806104481220245, 0.0198683924973011, 0.019899863749742508, 1.2793394327163696, -0.602443516254425, -0.2295728623867035, 1.271722674369812, -1.3358222246170044, -0.28398874402046204, -0.0030733682215213776, 1.2417539358139038, 0.016990674659609795, 0.13313855230808258, -0.03782900050282478, 0.14097216725349426, 0.9238191246986389, 0.03955226019024849, 0.18763263523578644, 0.15191636979579926, 1.19089674949646, -0.06800826638936996, 1.1737256050109863, 0.37932437658309937, 1.294960379600525, -0.11621370166540146, 1.303086519241333, 0.6592558026313782, 0.022263823077082634, 1.2017238140106201, -0.13530699908733368, 0.8352112770080566, 1.2625716924667358, 0.5627020001411438, -1.10686457157135, 0.5440787672996521, -0.0004122767713852227, -6.927297846459624e-08, 0.06343372911214828, -0.6954315304756165], "std": [0.03950861468911171, 0.026245296001434326, 0.01909666880965233, 0.05905426666140556, 0.06289669871330261, 0.10123821347951889, 0.11060747504234314, 0.11434642225503922, 0.026119684800505638, 0.02997228130698204, 0.025901198387145996, 0.05993035063147545, 0.07055015861988068, 0.019176682457327843, 0.005604025442153215, 0.004880497232079506, 0.08515352010726929, 0.035254672169685364, 0.009038865566253662, 0.0067227608524262905, 0.052468616515398026, 0.036152735352516174, 0.00600527273491025, 0.005561660975217819, 0.03143845126032829, 0.026861825957894325, 0.026619568467140198, 0.003970267251133919, 0.003940522205084562, 0.10839728266000748, 0.16652679443359375, 0.0221578236669302, 0.19418419897556305, 0.34763482213020325, 0.1218833476305008, 0.1771138608455658, 0.13822215795516968, 0.0768275037407875, 0.15088793635368347, 0.09224657714366913, 0.10293655097484589, 0.1768173724412918, 0.02474050782620907, 0.11770271509885788, 0.05617799609899521, 0.18851393461227417, 0.025999316945672035, 0.22731775045394897, 0.10576266795396805, 0.21981002390384674, 0.04165719449520111, 0.24738261103630066, 0.20317284762859344, 0.012815190479159355, 0.20518310368061066, 0.04326067492365837, 0.26126325130462646, 0.22823040187358856, 3.542999183991924e-05, 4.150120003032498e-05, 4.459865886019543e-05, 9.244271495845169e-05, 3.6438677852856927e-06, 0.019373444840312004, 0.021537790074944496], "count": [2768]}, "observation.state.joint_torque": {"min": [-35.66999816894531, -8.925000190734863, -16.722999572753906, -7.0269999504089355, -0.4496000111103058, -1.3655999898910522, 1.169600009918213, -0.6418578624725342, -0.3196554481983185, -0.5293857455253601, -0.3454676866531372, -0.10957689583301544, -0.49412408471107483, -0.37802889943122864, -0.08965382725000381, -0.04066966846585274, -0.5728001594543457, -0.5171512365341187, -0.14444229006767273, -0.033534638583660126, -0.586232602596283, -0.442313015460968, -0.09297433495521545, -0.032821137458086014, -0.10731147229671478, -0.2696094512939453, -0.49412408471107483, -0.13116022944450378, -0.033534638583660126, 9.569999694824219, -13.13700008392334, -2.0160000324249268, -10.838000297546387, -1.9456000328063965, -4.5096001625061035, -2.9463999271392822, -1.6008241176605225, -1.4823859930038452, -0.6412278413772583, -0.7021196484565735, -0.11787818372249603, -0.6438004970550537, -0.8692746162414551, -0.13780125975608826, -0.07135029137134552, -1.1225731372833252, -1.0861135721206665, -0.5976921916007996, -0.12200900912284851, -1.4535883665084839, -0.31086641550064087, -0.5146793723106384, -0.04851820319890976, -0.12974132597446442, -1.4967641830444336, -0.42216426134109497, -0.13116022944450378, -0.0763448178768158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.59149932861328, 13.021499633789062, -11.038999557495117, 5.131999969482422, 1.5640000104904175, 1.5839999914169312, 2.6031999588012695, 0.7870399951934814, 0.28909075260162354, 0.5467833876609802, 0.4063594937324524, 0.1062563955783844, 0.4144885540008545, 0.36747482419013977, 0.09629485011100769, 0.021405089646577835, 0.39913710951805115, 0.25713640451431274, 0.151083305478096, 0.014270060695707798, 0.38186678290367126, 0.47205641865730286, 0.12285894900560379, 0.01712406985461712, 0.06553036719560623, 0.2369876652956009, 0.3454071283340454, 0.06641025096178055, 0.014983562752604485, 38.455501556396484, 9.741000175476074, 22.73200035095215, 2.940000057220459, 0.7175999879837036, 3.368799924850464, 1.6576000452041626, 2.4324374198913574, 5.010056972503662, 2.4058468341827393, 1.477557897567749, 0.7122498750686646, 2.148240566253662, 0.6773817539215088, 1.0592433214187622, 0.21405088901519775, 0.5430567860603333, 0.2657715976238251, 0.6076537370681763, 0.046377696096897125, 0.45094817876815796, 0.2724878489971161, 0.47981399297714233, 0.1912187933921814, 0.12006568908691406, 0.5593676567077637, 0.35692068934440613, 0.44660890102386475, 0.20192134380340576, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.109333038330078, 1.9499235153198242, -12.715667724609375, -1.377896785736084, -0.17335936427116394, -0.4007507860660553, 1.562861442565918, -0.0004090086731594056, -0.002766977297142148, 0.023133138194680214, 0.0017118443502113223, 0.004009099677205086, 0.015307440422475338, 0.010091343894600868, 0.000368879409506917, 0.00014048376760911196, 0.03941161185503006, -0.0036693913862109184, 0.0016080769710242748, 0.0004897610051557422, 0.039604347199201584, 0.032526496797800064, 0.002727915532886982, 0.00048795604379847646, -0.00376610248349607, 0.010171364061534405, 0.0026149628683924675, 0.0008085357840172946, 7.140172965591773e-05, 27.402530670166016, 0.8348032236099243, 12.430099487304688, -1.560708999633789, -0.49978315830230713, 1.3464250564575195, -0.8336924910545349, 0.470500648021698, 2.0195302963256836, 0.592590868473053, 0.22196504473686218, 0.21588134765625, 1.272716760635376, -0.05213969200849533, 0.6213676929473877, 0.1326841413974762, -0.0925903394818306, -0.18163354694843292, -0.003972499165683985, -0.0020237434655427933, -0.009703142568469048, -0.008876773528754711, -0.004468542989343405, -0.0026418701745569706, -0.0018709051655605435, -0.024711426347494125, -0.0009750628960318863, -0.016496405005455017, 0.0036311582662165165, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6966747045516968, 0.8167575597763062, 0.5442430377006531, 0.6926808953285217, 0.20210996270179749, 0.3379117250442505, 0.191689595580101, 0.039491523057222366, 0.024794122204184532, 0.05664674565196037, 0.04676296189427376, 0.013198156841099262, 0.056492097675800323, 0.045213330537080765, 0.006973849609494209, 0.0036216687876731157, 0.06597153842449188, 0.05304275453090668, 0.016158441081643105, 0.003645555581897497, 0.060135368257761, 0.06333587318658829, 0.012054000049829483, 0.004542035516351461, 0.012880450114607811, 0.027674829587340355, 0.05709047242999077, 0.007876744493842125, 0.0035819578915834427, 4.376350402832031, 1.8340253829956055, 2.2998428344726562, 1.781830906867981, 0.3241760730743408, 0.9142047762870789, 0.5701305270195007, 0.7476645112037659, 1.7877757549285889, 0.6521285176277161, 0.3905443549156189, 0.1980585902929306, 0.967854917049408, 0.17989040911197662, 0.4783356487751007, 0.09855373948812485, 0.2129790186882019, 0.2118908017873764, 0.0468779020011425, 0.013374158181250095, 0.07627487182617188, 0.05422288179397583, 0.02800813876092434, 0.009909587912261486, 0.012422728352248669, 0.12098447978496552, 0.08307189494371414, 0.03593406826257706, 0.0065630837343633175, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2768]}, "observation.state.tcp": {"min": [0.36192643642425537, 0.19246265292167664, 0.9614518284797668, -1.4791661500930786, 1.21855890750885, -1.5814838409423828, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24791951477527618, -0.2697845697402954, 0.9649155139923096, -0.7909877896308899, 1.2180038690567017, 0.3944597840309143, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43638139963150024, 0.22361069917678833, 1.0523446798324585, -1.0555200576782227, 1.9378504753112793, -1.2295258045196533, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4647643268108368, -0.054572563618421555, 1.1310839653015137, 1.2085788249969482, 1.9757053852081299, 1.5003846883773804, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41943567991256714, 0.21160948276519775, 0.9933393001556396, -1.325722098350525, 1.7288763523101807, -1.5381230115890503, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40831002593040466, -0.14892853796482086, 1.0598825216293335, -0.24319711327552795, 1.72783625125885, 0.6786972880363464, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010565542615950108, 0.0051687187515199184, 0.02317228727042675, 0.10797224193811417, 0.12098268419504166, 0.03745582699775696, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.056458860635757446, 0.055450689047575, 0.0455891415476799, 0.3306410312652588, 0.12495599687099457, 0.18563511967658997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2768]}, "action": {"min": [1.051496982574463, -0.7794761061668396, -0.2250158190727234, 1.050912618637085, 0.00013061689969617873, -0.7640507221221924, 0.09728530049324036, 0.0, 0.0, -0.25349918007850647, 0.0, 0.0, 0.0, -0.11068154126405716, 0.0, 0.0, 0.0, -0.09504614770412445, 0.0, 0.0, 0.0, -0.06515826284885406, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.050732135772705, -1.195164442062378, -0.24284805357456207, 1.0521148443222046, -1.861215353012085, -0.7638990879058838, -0.34329351782798767, 0.0, -0.13245761394500732, -0.25155627727508545, -0.2231636643409729, 0.0, 0.0, -0.11564762890338898, 0.0, 0.0, 0.0, -0.12851841747760773, 0.0, 0.0, 0.0, -0.16754674911499023, 0.0, 0.0, -9.858933225359579e-09, 0.0, -0.18601040542125702, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440841317176819, -0.0007020575576461852, -1.7455462511861697e-05, -0.023537276312708855, -0.7297752499580383], "max": [1.253150463104248, -0.5822750926017761, -0.002616340760141611, 1.5672184228897095, 0.2117849588394165, 0.13735677301883698, 0.5624091625213623, 1.4132516384124756, 0.29379579424858093, 0.0, 0.2755707800388336, 0.6454331278800964, 0.6093529462814331, 0.11755333840847015, 0.054813090711832047, 0.050051234662532806, 0.5046729445457458, 0.2229340523481369, 0.0655055046081543, 0.04965825378894806, 0.24542465806007385, 0.23691263794898987, 0.035267118364572525, 0.03175104409456253, 0.26180002093315125, 0.16376149654388428, 0.24723276495933533, 0.02911498211324215, 0.02786138840019703, 1.4263203144073486, -0.34887027740478516, -0.003014368237927556, 1.885677695274353, 0.0950150415301323, -0.03514914959669113, 0.6856734752655029, 1.395961046218872, 0.290423721075058, 0.3961799740791321, 0.26602640748023987, 0.6226931810379028, 1.2163810729980469, 0.09596157819032669, 0.6155446767807007, 0.32866916060447693, 1.444496750831604, 0.222145214676857, 1.3825476169586182, 0.6463377475738525, 1.4147882461547852, 0.2279706597328186, 1.5026111602783203, 0.9849542379379272, 0.15858080983161926, 1.3062744140625, 0.2243286520242691, 1.380618929862976, 1.4175838232040405, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 3.84166506379851e-21, 1.1798099876614287e-05, 0.09386275708675385, -0.599504828453064], "mean": [1.169466257095337, -0.6185972094535828, -0.22268632054328918, 1.0912595987319946, 0.15825869143009186, 0.05500170961022377, 0.2803293466567993, 1.374841570854187, 0.28960973024368286, -0.10308907181024551, 0.23071426153182983, 0.6136561632156372, 0.5210843682289124, 0.10375168174505234, 0.04809301346540451, 0.04513947293162346, 0.385467529296875, 0.18717148900032043, 0.05728800967335701, 0.043039750307798386, 0.17513710260391235, 0.2051561176776886, 0.027967773377895355, 0.025445103645324707, 0.0612359456717968, 0.1298668533563614, 0.2206086367368698, 0.024685153737664223, 0.02382209524512291, 1.2801766395568848, -0.6029914617538452, -0.22958043217658997, 1.2723126411437988, -1.3405966758728027, -0.284974068403244, -0.0030988140497356653, 1.248322606086731, 0.027555786073207855, 0.13821756839752197, -0.03301798924803734, 0.1419285386800766, 0.9501574039459229, 0.03504316508769989, 0.20537590980529785, 0.19209779798984528, 1.1916719675064087, -0.06854967027902603, 1.1748477220535278, 0.38015085458755493, 1.2954635620117188, -0.11622828990221024, 1.3042112588882446, 0.6607414484024048, 0.022032015025615692, 1.2021154165267944, -0.13585828244686127, 0.8357495665550232, 1.3181170225143433, 0.5627040266990662, -1.1068713665008545, 0.5441561341285706, -0.0004473142616916448, -5.129210194354528e-07, 0.06348542869091034, -0.6954749822616577], "std": [0.039532069116830826, 0.02638702094554901, 0.019178465008735657, 0.05910429358482361, 0.06293950974941254, 0.1014094278216362, 0.1107410192489624, 0.1298678070306778, 0.029830537736415863, 0.030507579445838928, 0.029584567993879318, 0.06595950573682785, 0.07081510871648788, 0.017031140625476837, 0.005960074719041586, 0.005381756462156773, 0.08537011593580246, 0.03288703411817551, 0.00895586796104908, 0.006801153067499399, 0.053481996059417725, 0.034640755504369736, 0.006898573134094477, 0.006133147515356541, 0.03471909463405609, 0.027980558574199677, 0.026723001152276993, 0.004528244491666555, 0.004340781830251217, 0.10842621326446533, 0.16707877814769745, 0.022186707705259323, 0.19462548196315765, 0.3412870466709137, 0.12295950204133987, 0.17736409604549408, 0.14844559133052826, 0.08345536887645721, 0.15009784698486328, 0.08737040311098099, 0.10460557043552399, 0.18895140290260315, 0.022358348593115807, 0.128817617893219, 0.08330671489238739, 0.18359971046447754, 0.02688528783619404, 0.22334922850131989, 0.10612809658050537, 0.213450625538826, 0.041131604462862015, 0.24257421493530273, 0.20238149166107178, 0.013450267724692822, 0.19916054606437683, 0.04278024286031723, 0.2603513300418854, 0.234977126121521, 2.059957114397548e-05, 8.653406439407263e-06, 1.2802815035684034e-05, 8.660044841235504e-05, 4.874449587077834e-06, 0.019428791478276253, 0.02159873954951763], "count": [2768]}, "observation.state.tcp_pose": {"min": [0.36192643642425537, 0.19246265292167664, 0.9614518284797668, -1.4791661500930786, 1.21855890750885, -1.5814838409423828, 0.24791951477527618, -0.2697845697402954, 0.9649155139923096, -0.7909877896308899, 1.2180038690567017, 0.3944597840309143], "max": [0.43638139963150024, 0.22361069917678833, 1.0523446798324585, -1.0555200576782227, 1.9378504753112793, -1.2295258045196533, 0.4647643268108368, -0.054572563618421555, 1.1310839653015137, 1.2085788249969482, 1.9757053852081299, 1.5003846883773804], "mean": [0.41943567991256714, 0.21160948276519775, 0.9933393001556396, -1.325722098350525, 1.7288763523101807, -1.5381230115890503, 0.40831002593040466, -0.14892853796482086, 1.0598825216293335, -0.24319711327552795, 1.72783625125885, 0.6786972880363464], "std": [0.010565542615950108, 0.0051687187515199184, 0.02317228727042675, 0.10797224193811417, 0.12098268419504166, 0.03745582699775696, 0.056458860635757446, 0.055450689047575, 0.0455891415476799, 0.3306410312652588, 0.12495599687099457, 0.18563511967658997], "count": [2768]}, "action.tcp_pose": {"min": [0.3621603548526764, 0.1925438642501831, 0.9614259004592896, -1.4791098833084106, 1.2204058170318604, -1.5814318656921387, 0.24799400568008423, -0.26985982060432434, 0.9651272296905518, -0.7912419438362122, 1.219366431236267, 0.3944384753704071], "max": [0.4363981783390045, 0.22362875938415527, 1.0533161163330078, -1.0551491975784302, 1.9378738403320312, -1.2321993112564087, 0.46479690074920654, -0.054549574851989746, 1.1309760808944702, 1.2079471349716187, 1.9759634733200073, 1.499787449836731], "mean": [0.4194551110267639, 0.2116325944662094, 0.9933325052261353, -1.3256101608276367, 1.7287019491195679, -1.5381602048873901, 0.40829476714134216, -0.14892250299453735, 1.0604130029678345, -0.24834884703159332, 1.7255598306655884, 0.6775553226470947], "std": [0.010565042495727539, 0.005161897279322147, 0.023205731064081192, 0.10815480351448059, 0.1211269199848175, 0.03760453686118126, 0.056503571569919586, 0.05552555248141289, 0.04574909433722496, 0.32289090752601624, 0.128011554479599, 0.1834685355424881], "count": [2768]}, "subtask_index": {"min": [54], "max": [2371], "mean": [2276.0270953757226], "std": [391.0334263500578], "count": [2768]}, "observation.tactile": {"min": [-0.017308412119746208, -4.741409429698251e-05, -0.00010427039524074644, -0.0019166559213772416, -7.421909685945138e-05, -0.000360094360075891, -0.009999430738389492, -4.815531428903341e-05, -0.0001096683117793873, -0.0004305945767555386, -7.208221359178424e-05, -0.00017879529332276434, -0.009912043809890747, -4.8013498599175364e-05, -0.00010679185652406886, -0.0010021370835602283, -5.3989439038559794e-05, -0.0002277036546729505, -0.01861833967268467, -3.752188422367908e-05, -8.247603545896709e-05, -0.0014243636978790164, -9.760667126101907e-06, -0.00039077227120287716, -0.010489501990377903, -4.431221168488264e-05, -9.969617531169206e-05, -0.0012154977302998304, -4.981626261724159e-05, -0.00022987562988419086, -1.0163806676864624, -4.0976679883897305e-05, -9.562723425915465e-05, -0.21796700358390808, -0.011777491308748722, -0.03178891912102699, -6.292685508728027, -0.3503444790840149, -0.00010417687008157372, -0.24689462780952454, -0.029254965484142303, -0.09881512075662613, -1.8725194931030273, -4.734593676403165e-05, -0.00010581286187516525, -0.010059741325676441, -0.004732945468276739, -0.02803035080432892, -0.012064660899341106, -5.8207824622513726e-05, -0.00012882424925919622, -0.002394586568698287, -0.00010196957737207413, -0.00025649293093010783, -0.0358697883784771, -3.957509034080431e-05, -8.875640196492895e-05, -0.001308953040279448, -7.265637395903468e-05, -0.0005246460787020624], "max": [0.0036881479900330305, 0.03485171124339104, 0.10277875512838364, 1.9501537735777674e-06, 0.00029548665042966604, 5.708607204724103e-05, 0.00034353346563875675, 0.007268232759088278, 0.021115100011229515, 1.869780817287392e-06, 1.2121126928832382e-05, 6.73114345772774e-06, 0.013953986577689648, 0.016028843820095062, 0.04578036814928055, 2.0124641650909325e-06, 0.0001682890288066119, 0.0001857987226685509, 0.002703484147787094, 0.02496134117245674, 0.07569367438554764, 1.5419002465932863e-06, 0.00014151522191241384, 1.3927826330473181e-05, 0.0017329475376755, 0.02131594531238079, 0.06076089292764664, 1.8623395590111613e-06, 0.00011923835700144991, 1.1085474397987127e-05, 6.548093318939209, 7.409411430358887, 12.486381530761719, 1.7671515024630935e-06, 0.04653428867459297, 0.122319296002388, 5.139980792999268, 18.336183547973633, 14.65792179107666, 1.97579174709972e-06, 0.026174409314990044, 0.10181058943271637, 0.016678104177117348, 0.26316770911216736, 0.629191517829895, 1.9572244127630256e-06, 0.0003142360073979944, 0.0002170185325667262, 0.11140204966068268, 0.047475166618824005, 0.15199023485183716, 2.3539935227745445e-06, 0.0007885300437919796, 0.0015470897778868675, 0.0027307376731187105, 0.022153334692120552, 0.061317771673202515, 1.64288167070481e-06, 9.418912668479607e-05, 3.355157969053835e-05], "mean": [-0.0018291533924639225, 0.005683763884007931, 0.01674891635775566, -0.0003230978036299348, 2.870691787393298e-05, -4.201562114758417e-05, 0.00017270215903408825, 0.00018138447194360197, 0.0005626967758871615, -9.311764188169036e-06, -1.5156211929934216e-06, 3.702213462020154e-06, 0.00016142000094987452, 0.000283454661257565, 0.0008617329294793308, -1.3987354577693623e-05, -2.066169372483273e-06, 4.421360245032702e-06, -0.0002828139695338905, 0.0006399150006473064, 0.0019262471469119191, -3.548575841705315e-05, 2.416344159428263e-06, -5.818601493956521e-06, 2.0561437850119546e-05, 0.0006710002780891955, 0.0019846048671752214, -3.409083001315594e-05, 2.3466875518352026e-06, 3.348394272961741e-07, 2.2517573833465576, 2.760632038116455, 5.264725208282471, -0.09820889681577682, 0.012577328830957413, 0.03506455570459366, -1.997061014175415, 1.3546139001846313, 6.985121726989746, -0.10982803255319595, -0.0016609986778348684, -0.03218774124979973, -0.02759360708296299, 0.006168025080114603, 0.015595030970871449, -0.0002475127694196999, -4.251917562214658e-05, -0.00040082240593619645, -0.00034487960510887206, 0.00207726308144629, 0.006118287332355976, -0.00011868940782733262, 4.029399860883132e-06, -8.818014066491742e-06, -0.0005507470341399312, 0.0038022836670279503, 0.010977980680763721, -0.000212439481401816, 1.7004389519570395e-05, -1.642625647946261e-05], "std": [0.002650242066010833, 0.006730325054377317, 0.019626939669251442, 0.00040808808989822865, 5.5229043937288225e-05, 5.786917245131917e-05, 0.00043895936687476933, 0.0006471210508607328, 0.0019013063283637166, 3.207617555744946e-05, 2.2462959350377787e-06, 7.753954378131311e-06, 0.0007770354277454317, 0.0011902089463546872, 0.0035198882687836885, 6.628021947108209e-05, 7.87863609730266e-06, 1.3822059372614603e-05, 0.002008863026276231, 0.002573817502707243, 0.007642348762601614, 0.00014377679326571524, 1.4503712918667588e-05, 4.187192826066166e-05, 0.0007579949451610446, 0.0018387611489742994, 0.0053365896455943584, 9.802780550671741e-05, 1.4588650628866162e-05, 1.733731187414378e-05, 1.9290404319763184, 2.179718017578125, 3.895110607147217, 0.07351753115653992, 0.01325536984950304, 0.0336945541203022, 1.8778356313705444, 2.119673728942871, 5.1813764572143555, 0.08254574239253998, 0.008825057186186314, 0.030589448288083076, 0.14432740211486816, 0.0248334351927042, 0.058843906968832016, 0.0009099080343730748, 0.0003402609145268798, 0.0021184904035180807, 0.003633704036474228, 0.0037997711915522814, 0.011311727575957775, 0.00022031879052519798, 3.20723484037444e-05, 5.532941941055469e-05, 0.0011647461215034127, 0.0035701787564903498, 0.010243447497487068, 0.00019806355703622103, 2.3045526177156717e-05, 2.191424573538825e-05], "count": [2768]}, "timestamp": {"min": [0.0], "max": [92.23333333333333], "mean": [46.11666666666667], "std": [26.635090680445515], "count": [2768]}, "frame_index": {"min": [0], "max": [2767], "mean": [1383.5], "std": [799.0527204133655], "count": [2768]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [2768]}, "index": {"min": [111841], "max": [114608], "mean": [113224.5], "std": [799.0527204133655], "count": [2768]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2768]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5633002519607544]], [[0.5637654662132263]], [[0.5642750263214111]]], "std": [[[0.2975366711616516]], [[0.29687726497650146]], [[0.2975383698940277]]], "count": [2768]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30068644881248474]], [[0.3047583997249603]], [[0.30307793617248535]]], "std": [[[0.18163232505321503]], [[0.18240971863269806]], [[0.1830241084098816]]], "count": [2768]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3109361231327057]], [[0.3133249282836914]], [[0.311031699180603]]], "std": [[[0.1837497353553772]], [[0.1829383224248886]], [[0.1827823668718338]]], "count": [2768]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5654482245445251]], [[0.5656186938285828]], [[0.5656851530075073]]], "std": [[[0.30390673875808716]], [[0.30355894565582275]], [[0.30442094802856445]]], "count": [2768]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.658823549747467]], [[0.658823549747467]], [[0.658823549747467]]], "mean": [[[0.004582947585731745]], [[0.004582947585731745]], [[0.004582947585731745]]], "std": [[[0.042398422956466675]], [[0.042398422956466675]], [[0.042398422956466675]]], "count": [2768]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49089041352272034]], [[0.49089041352272034]], [[0.49089041352272034]]], "std": [[[0.2217373251914978]], [[0.2217373251914978]], [[0.2217373251914978]]], "count": [2768]}}}
+{"episode_index": 44, "stats": {"observation.state": {"min": [1.0504443645477295, -0.7794323563575745, -0.22502084076404572, 1.1650117635726929, -0.12741100788116455, -0.7681922912597656, 0.12569138407707214, 0.0065130447037518024, -0.0002034423523582518, -0.24671025574207306, 0.005523963365703821, 0.0034818074200302362, -0.0012695007026195526, -0.12403208017349243, 0.003517972771078348, 0.0008429468725807965, -0.0017110661137849092, -0.13449424505233765, 0.00294996309094131, 0.0008221060270443559, -0.0031812344677746296, -0.026918325573205948, 0.00672783050686121, 0.000826096860691905, 0.005381711758673191, -0.0025551931466907263, -0.01096382737159729, 0.002324514091014862, 0.0008464942802675068, 0.9738062620162964, -1.1915754079818726, -0.24295295774936676, 0.9961572885513306, -1.7441558837890625, -0.7675231099128723, -0.3757595121860504, 0.005573343485593796, -0.10550905764102936, -0.2667522132396698, -0.21785703301429749, 0.0032651694491505623, 0.00530859874561429, -0.11980973929166794, 0.003571866312995553, 0.000952028960455209, 0.005377042107284069, -0.11648494750261307, 0.004385233856737614, 0.001415849314071238, -0.0011689214734360576, -0.16650283336639404, 0.003764748340472579, 0.000863787776324898, 0.014568512327969074, -0.0019524553790688515, -0.18576078116893768, 0.003312680870294571, 0.0008580232970416546, 0.5625874400138855, -1.1070547103881836, 0.543796181678772, -0.0005752427969127893, -9.58738019107841e-05, -0.010354369878768921, -0.7737974524497986], "max": [1.2569564580917358, -0.660595715045929, -0.001402274239808321, 1.5685285329818726, 0.14593647420406342, 0.06737902760505676, 0.6406218409538269, 1.3204379081726074, 0.29456332325935364, 0.001840058364905417, 0.27872347831726074, 0.4644964933395386, 0.5848982334136963, 0.11541738361120224, 0.045399293303489685, 0.04548987001180649, 0.4418756365776062, 0.2163911610841751, 0.052424248307943344, 0.04101129621267319, 0.1526281088590622, 0.22357125580310822, 0.022408373653888702, 0.022393744438886642, 0.24107670783996582, 0.14398618042469025, 0.2459201216697693, 0.022704433649778366, 0.02238265797495842, 1.4058793783187866, -0.33797138929367065, -0.001745382440276444, 1.8217235803604126, 0.12376480549573898, -0.11669830232858658, 0.6981450915336609, 1.347729206085205, 0.26456987857818604, 0.35274118185043335, 0.23616008460521698, 0.7384977340698242, 1.0992428064346313, 0.0943424329161644, 0.6863479018211365, 0.30178964138031006, 1.3152000904083252, 0.1856667697429657, 1.3273178339004517, 0.4717443287372589, 1.373808741569519, 0.196625217795372, 1.487127423286438, 0.6461930274963379, 0.23434850573539734, 1.2919042110443115, 0.21045087277889252, 1.4119541645050049, 1.3081724643707275, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 0.00047936898772604764, 0.0001917476038215682, 0.10459831357002258, -0.600649356842041], "mean": [1.1874092817306519, -0.6953041553497314, -0.22285747528076172, 1.2404811382293701, 0.12079209089279175, -0.047236379235982895, 0.271213173866272, 1.255712628364563, 0.2860737442970276, -0.1368546336889267, 0.2648318111896515, 0.4359908699989319, 0.38794341683387756, 0.0706402137875557, 0.033733852207660675, 0.033401861786842346, 0.30133137106895447, 0.18616312742233276, 0.0377531535923481, 0.03283214941620827, 0.08546441048383713, 0.18644727766513824, 0.014278658665716648, 0.013872338458895683, 0.1085587590932846, 0.07130830734968185, 0.21863184869289398, 0.011860158294439316, 0.012656464241445065, 1.2403817176818848, -0.6114786863327026, -0.22841764986515045, 1.2632502317428589, -1.2183887958526611, -0.3333885073661804, 0.05293343588709831, 1.2366886138916016, 0.0633341521024704, 0.029187943786382675, -0.04412834718823433, 0.16292086243629456, 0.8831316828727722, 0.0461777038872242, 0.20726114511489868, 0.13666242361068726, 1.2178531885147095, -0.06892691552639008, 1.1340289115905762, 0.27164772152900696, 1.2818193435668945, -0.12068431079387665, 1.2760807275772095, 0.37481969594955444, 0.02375919744372368, 1.204833745956421, -0.13965575397014618, 0.9424936771392822, 1.2507638931274414, 0.5626951456069946, -1.1068577766418457, 0.5440903902053833, -0.0003027001512236893, 7.365962346739252e-07, 0.06264406442642212, -0.7312808632850647], "std": [0.035102371126413345, 0.02451932616531849, 0.01902601681649685, 0.05665193498134613, 0.031101172789931297, 0.124201200902462, 0.09329928457736969, 0.10778220742940903, 0.027353560552001, 0.022595234215259552, 0.02662002295255661, 0.04236771538853645, 0.07468242943286896, 0.023468613624572754, 0.005374127998948097, 0.005675915628671646, 0.08286719024181366, 0.041938651353120804, 0.009079447947442532, 0.00716956052929163, 0.0293925441801548, 0.03967982158064842, 0.003949738573282957, 0.003838490229099989, 0.041474271565675735, 0.024997422471642494, 0.03502846136689186, 0.0036750591825693846, 0.0033720056526362896, 0.10479236394166946, 0.18078511953353882, 0.02122054062783718, 0.20889665186405182, 0.34348687529563904, 0.12289352715015411, 0.17591406404972076, 0.14478076994419098, 0.0775989294052124, 0.1316358596086502, 0.082076795399189, 0.1721164733171463, 0.19214318692684174, 0.02736298367381096, 0.14608749747276306, 0.061586152762174606, 0.22427955269813538, 0.028858276084065437, 0.23756273090839386, 0.05991840735077858, 0.24644735455513, 0.04317446053028107, 0.26358717679977417, 0.10219807177782059, 0.024430086836218834, 0.23422695696353912, 0.04640958458185196, 0.2252589911222458, 0.25514698028564453, 3.8208821933949366e-05, 3.736733924597502e-05, 6.0527934692800045e-05, 0.00021962822938803583, 1.1703839845722541e-05, 0.02541009709239006, 0.02811075933277607], "count": [2473]}, "observation.state.joint_torque": {"min": [-32.890499114990234, -3.4049999713897705, -17.22800064086914, -6.0920000076293945, -0.25279998779296875, -0.9391999840736389, 0.40959998965263367, -1.5638917684555054, -0.3833317756652832, -0.4684939682483673, -0.43742671608924866, -0.12451920658349991, -0.32333946228027344, -0.5046781897544861, -0.0979551151394844, -0.039956167340278625, -0.3693937361240387, -0.43175891041755676, -0.12617947161197662, -0.033534638583660126, -0.28112301230430603, -0.4547860324382782, -0.0979551151394844, -0.03068062849342823, -0.13325972855091095, -0.1707846224308014, -0.5037187337875366, -0.10957689583301544, -0.03424813970923424, 6.158999919891357, -5.557499885559082, -5.355999946594238, -8.932000160217285, -2.5959999561309814, -4.45359992980957, -3.270400047302246, -1.603371024131775, -0.815057635307312, -0.43742677569389343, -0.9469295144081116, -0.2390768826007843, -0.4739753305912018, -0.8663961887359619, -0.15772433578968048, -0.07277730107307434, -1.4545478820800781, -1.1053028106689453, -0.18926919996738434, -0.02425910159945488, -0.6476383805274963, -0.39913710951805115, -0.17432688176631927, -0.04923170804977417, -0.1319403201341629, -0.5037187337875366, -0.47013747692108154, -0.2556794285774231, -0.046377696096897125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.0674991607666, 15.246000289916992, -11.196999549865723, 5.0960001945495605, 1.291200041770935, 1.4368000030517578, 2.3959999084472656, 0.36677590012550354, 0.1146174818277359, 0.3330408036708832, 0.41630101203918457, 0.09131408482789993, 0.471096932888031, 0.37994784116744995, 0.0979551151394844, 0.021405089646577835, 0.4451914131641388, 0.44615086913108826, 0.12949997186660767, 0.013556556776165962, 0.33485302329063416, 0.37131267786026, 0.08633331209421158, 0.019264578819274902, 0.08752042055130005, 0.22355516254901886, 0.4048939049243927, 0.09297433495521545, 0.013556556776165962, 42.93299865722656, 15.545999526977539, 21.1560001373291, 5.13700008392334, 0.4936000108718872, 3.620800018310547, 3.0104000568389893, 2.4604551792144775, 5.011330604553223, 2.516446352005005, 1.537207007408142, 0.723871648311615, 2.1434431076049805, 1.1456003189086914, 1.0575830936431885, 0.21476440131664276, 0.3761099874973297, 0.18325766921043396, 0.09463459998369217, 0.01855107769370079, 0.4192858934402466, 0.28304195404052734, 0.14610254764556885, 0.02354559674859047, 0.12270450592041016, 0.4845294654369354, 0.44231298565864563, 0.15772433578968048, 0.1020309254527092, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.888626098632812, 2.052398443222046, -13.655746459960938, -1.861041784286499, 0.027582375332713127, -0.31668323278427124, 1.6014732122421265, -0.0009053220273926854, -0.0025079180486500263, 0.024616684764623642, 0.017719246447086334, 0.0006411424255929887, 0.014553332701325417, 0.0155201880261302, 0.0007264053565450013, 0.0005478944513015449, 0.0332624614238739, -0.008412474766373634, 0.0018086268100887537, 1.6157227946678177e-05, 0.02691628225147724, 0.022274550050497055, 0.0024484277237206697, 0.0002625508059281856, -0.005633267108350992, 0.01156124658882618, -0.0022459644824266434, 0.000939894700422883, 6.289683369686827e-05, 27.041988372802734, 1.0894296169281006, 12.300368309020996, -1.7524387836456299, -0.5065672397613525, 1.3643629550933838, -1.0331542491912842, 0.4548211991786957, 1.851243257522583, 0.5309368968009949, 0.15782415866851807, 0.19684939086437225, 1.1276623010635376, -0.025681279599666595, 0.5220600962638855, 0.1177951991558075, -0.09538037329912186, -0.14154088497161865, 0.0009714471525512636, -0.0005519335973076522, 0.00086674012709409, -0.008479601703584194, 2.1484040189534426e-05, -0.0016482982318848372, -0.0022271047346293926, -0.0024508472997695208, 0.0007654775981791317, -0.01494901068508625, 0.003823418403044343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6128333210945129, 0.8156694173812866, 0.4976535141468048, 0.6178968548774719, 0.1967078000307083, 0.365195631980896, 0.19101054966449738, 0.047086358070373535, 0.020282689481973648, 0.057391583919525146, 0.06177239865064621, 0.009784134104847908, 0.05749130621552467, 0.057440418750047684, 0.008209103718400002, 0.004808015655726194, 0.057047996670007706, 0.05349612236022949, 0.01361027266830206, 0.004100540187209845, 0.049682874232530594, 0.06550675630569458, 0.010369821451604366, 0.0036332139279693365, 0.014023656025528908, 0.029180243611335754, 0.05064236372709274, 0.008361229673027992, 0.003389831632375717, 4.688535213470459, 2.02772855758667, 2.329078435897827, 1.805079460144043, 0.3384154736995697, 0.8254136443138123, 0.6179651618003845, 0.698888897895813, 1.8550300598144531, 0.6136189699172974, 0.3467560410499573, 0.2092583328485489, 0.976764976978302, 0.21601493656635284, 0.47036707401275635, 0.10153411328792572, 0.20511676371097565, 0.1765260547399521, 0.022988371551036835, 0.007611485663801432, 0.06377729028463364, 0.06023060902953148, 0.024913303554058075, 0.00990467332303524, 0.014464578591287136, 0.11643877625465393, 0.08424576371908188, 0.0350988395512104, 0.006014537997543812, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2473]}, "observation.state.tcp": {"min": [0.3618687689304352, 0.1924331933259964, 0.9770739078521729, -1.3648583889007568, 1.218469500541687, -1.52852463722229, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23498466610908508, -0.2855864465236664, 0.9486737847328186, -0.8045383095741272, 1.2175519466400146, 0.40413767099380493, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.409941703081131, 0.2273421585559845, 1.0585702657699585, -0.8906774520874023, 1.9309186935424805, -1.2296428680419922, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4727639853954315, -0.05117621645331383, 1.1195272207260132, 1.2078977823257446, 1.9558331966400146, 1.4375747442245483, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4014354348182678, 0.21091225743293762, 1.004687786102295, -1.3013968467712402, 1.7427220344543457, -1.4891177415847778, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40202343463897705, -0.156249538064003, 1.0436500310897827, -0.1238039880990982, 1.7357194423675537, 0.760211706161499, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00549069419503212, 0.006525174714624882, 0.020494718104600906, 0.06552968919277191, 0.13628746569156647, 0.03898429125547409, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0593562014400959, 0.05762849003076553, 0.044509246945381165, 0.3373071551322937, 0.13381722569465637, 0.15634799003601074, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2473]}, "action": {"min": [1.050002098083496, -0.7799965143203735, -0.2250158190727234, 1.1649987697601318, -0.12789276242256165, -0.7699857950210571, 0.12568889558315277, 0.0, 0.0, -0.246413454413414, 0.0, 0.0, 0.0, -0.13283786177635193, 0.0, 0.0, 0.0, -0.13913992047309875, 0.0, 0.0, 0.0, -0.12566232681274414, 0.0, 0.0, 0.0, 0.0, -0.022158628329634666, 0.0, 0.0, 0.9738209247589111, -1.1916635036468506, -0.24294227361679077, 0.9961324334144592, -1.7441495656967163, -0.767728865146637, -0.375772625207901, 0.0, -0.11366541683673859, -0.26766249537467957, -0.1954335719347, 0.0, 0.0, -0.13121943175792694, 0.0, 0.0, 0.0, -0.1236787661910057, 0.0, 0.0, 0.0, -0.16828204691410065, 0.0, 0.0, -2.8830806630963934e-09, 0.0, -0.18736913800239563, 0.0, 0.0, 0.562587559223175, -1.1068999767303467, 0.5439881682395935, -0.0005566339823417366, -7.926403486635536e-05, -0.010273214429616928, -0.7738696336746216], "max": [1.25705087184906, -0.6605901718139648, -7.511044259445043e-06, 1.5699896812438965, 0.14595219492912292, 0.06738846004009247, 0.6406860947608948, 1.3282767534255981, 0.2934577763080597, 0.0, 0.27907490730285645, 0.47043800354003906, 0.5882436037063599, 0.11587399244308472, 0.05258107930421829, 0.04903848469257355, 0.44746577739715576, 0.21484820544719696, 0.05845901742577553, 0.04566650837659836, 0.15335462987422943, 0.2226136028766632, 0.0281967855989933, 0.02444284036755562, 0.26180002093315125, 0.1517321765422821, 0.2484552562236786, 0.02781868167221546, 0.026567915454506874, 1.4058771133422852, -0.33791494369506836, -0.0011805249378085136, 1.822379469871521, 0.12394902855157852, -0.11660321056842804, 0.7493195533752441, 1.3549338579177856, 0.2831615209579468, 0.4050123691558838, 0.23969268798828125, 0.7423746585845947, 1.1842985153198242, 0.09328731894493103, 0.6991763114929199, 0.4695245325565338, 1.4572960138320923, 0.22931571304798126, 1.3298838138580322, 0.4795936644077301, 1.418729543685913, 0.23354829847812653, 1.4907716512680054, 0.6604022979736328, 0.26180002093315125, 1.296654462814331, 0.25248250365257263, 1.4241334199905396, 1.4084417819976807, 0.5626999735832214, -1.106863021850586, 0.544361412525177, 0.00042285476229153574, 0.00015095577691681683, 0.10469276458024979, -0.6000000238418579], "mean": [1.1874862909317017, -0.6953223943710327, -0.22286444902420044, 1.2405296564102173, 0.12075299769639969, -0.04733728617429733, 0.2713172137737274, 1.2563977241516113, 0.28885194659233093, -0.13295485079288483, 0.2679140865802765, 0.4421803951263428, 0.39040377736091614, 0.07181078940629959, 0.038068875670433044, 0.03695749491453171, 0.3078005611896515, 0.1868591159582138, 0.04431646689772606, 0.03626449406147003, 0.08763840794563293, 0.19219794869422913, 0.01982831209897995, 0.017256177961826324, 0.10041487962007523, 0.07535179704427719, 0.21979978680610657, 0.016837269067764282, 0.016295090317726135, 1.241280198097229, -0.6124601364135742, -0.22842901945114136, 1.264001727104187, -1.218188762664795, -0.3339557349681854, 0.05349559336900711, 1.2445924282073975, 0.07456547766923904, 0.030940888449549675, -0.04282986745238304, 0.1643141359090805, 0.9102179408073425, 0.04131495580077171, 0.21784624457359314, 0.18960998952388763, 1.2189271450042725, -0.06916250288486481, 1.1357682943344116, 0.2722070515155792, 1.283738613128662, -0.12084981054067612, 1.2780321836471558, 0.37573978304862976, 0.023561924695968628, 1.205641746520996, -0.13993506133556366, 0.9429157972335815, 1.317337989807129, 0.5626985430717468, -1.1068639755249023, 0.5441521406173706, -0.0003309027524664998, 9.999258736570482e-07, 0.062724269926548, -0.7313371896743774], "std": [0.03507412597537041, 0.02453375607728958, 0.019044259563088417, 0.056767113506793976, 0.03123694285750389, 0.1243748888373375, 0.09345037490129471, 0.1247233971953392, 0.031150490045547485, 0.025056177750229836, 0.03035934641957283, 0.04806045815348625, 0.07481037080287933, 0.0222159493714571, 0.006259824149310589, 0.005733046215027571, 0.08323027938604355, 0.03991524502635002, 0.009854738600552082, 0.007794586475938559, 0.03172310069203377, 0.04115799814462662, 0.005068224389106035, 0.004539160989224911, 0.04654074087738991, 0.025766225531697273, 0.033935800194740295, 0.0043838839046657085, 0.004184770863503218, 0.10483628511428833, 0.18195319175720215, 0.021208330988883972, 0.209492027759552, 0.34394556283950806, 0.1230137050151825, 0.1772833615541458, 0.15442685782909393, 0.08087422698736191, 0.133195698261261, 0.07908396422863007, 0.1732410192489624, 0.20758335292339325, 0.02368192933499813, 0.14765872061252594, 0.12512415647506714, 0.21909025311470032, 0.03063119947910309, 0.2331625074148178, 0.059998851269483566, 0.2407640814781189, 0.043317265808582306, 0.2588488757610321, 0.10199076682329178, 0.026675567030906677, 0.22851581871509552, 0.04647407308220863, 0.22292330861091614, 0.2658155560493469, 1.6341016817023046e-05, 2.9930001801403705e-06, 2.3414897441398352e-05, 0.00023821493959985673, 1.844901817094069e-05, 0.025448119267821312, 0.028154464438557625], "count": [2473]}, "observation.state.tcp_pose": {"min": [0.3618687689304352, 0.1924331933259964, 0.9770739078521729, -1.3648583889007568, 1.218469500541687, -1.52852463722229, 0.23498466610908508, -0.2855864465236664, 0.9486737847328186, -0.8045383095741272, 1.2175519466400146, 0.40413767099380493], "max": [0.409941703081131, 0.2273421585559845, 1.0585702657699585, -0.8906774520874023, 1.9309186935424805, -1.2296428680419922, 0.4727639853954315, -0.05117621645331383, 1.1195272207260132, 1.2078977823257446, 1.9558331966400146, 1.4375747442245483], "mean": [0.4014354348182678, 0.21091225743293762, 1.004687786102295, -1.3013968467712402, 1.7427220344543457, -1.4891177415847778, 0.40202343463897705, -0.156249538064003, 1.0436500310897827, -0.1238039880990982, 1.7357194423675537, 0.760211706161499], "std": [0.00549069419503212, 0.006525174714624882, 0.020494718104600906, 0.06552968919277191, 0.13628746569156647, 0.03898429125547409, 0.0593562014400959, 0.05762849003076553, 0.044509246945381165, 0.3373071551322937, 0.13381722569465637, 0.15634799003601074], "count": [2473]}, "action.tcp_pose": {"min": [0.3617657721042633, 0.19242823123931885, 0.9770565629005432, -1.3648784160614014, 1.2178473472595215, -1.5284805297851562, 0.23475873470306396, -0.28850695490837097, 0.9490243792533875, -0.8045583963394165, 1.2170066833496094, 0.4039376974105835], "max": [0.4098886549472809, 0.22731848061084747, 1.0586060285568237, -0.8907612562179565, 1.9308720827102661, -1.2289611101150513, 0.4726639986038208, -0.051101457327604294, 1.1196585893630981, 1.2076594829559326, 1.955824375152588, 1.4610979557037354], "mean": [0.4014590382575989, 0.21091406047344208, 1.0046955347061157, -1.3013187646865845, 1.742580771446228, -1.4891419410705566, 0.40206679701805115, -0.1565263271331787, 1.0441656112670898, -0.12384656071662903, 1.7339255809783936, 0.7604131698608398], "std": [0.0054719774052500725, 0.00653285114094615, 0.020557934418320656, 0.06583128124475479, 0.13654032349586487, 0.038758229464292526, 0.05937471240758896, 0.05798792466521263, 0.04475773125886917, 0.33705762028694153, 0.13603346049785614, 0.1569080352783203], "count": [2473]}, "subtask_index": {"min": [54], "max": [2422], "mean": [2343.222806308128], "std": [355.0695131555978], "count": [2473]}, "observation.tactile": {"min": [-0.017427964136004448, -3.772162017412484e-05, -8.43180823721923e-05, -0.002653211122378707, -8.367118425667286e-05, -0.000362834136467427, -0.00836880225688219, -4.637505844584666e-05, -0.00010585542622720823, -0.0006242728559300303, -3.508938607410528e-05, -0.00018395711958874017, -0.016564426943659782, -4.8355032049585134e-05, -0.00010632078192429617, -0.0015248217387124896, -4.3625874241115525e-05, -0.0003591975546441972, -0.02199384942650795, -3.555096554919146e-05, -7.783898035995662e-05, -0.0015193771105259657, -2.259240318380762e-05, -0.00043440223089419305, -0.007289878558367491, -4.820074900635518e-05, -0.00011018990335287526, -0.0006590636330656707, -6.59697107039392e-05, -0.00014718419697601348, -4.229305744171143, -3.968316741520539e-05, -9.236601908924058e-05, -0.20837555825710297, -0.015303602442145348, -0.07015901803970337, -9.854059219360352, -1.715213418006897, -9.6762967586983e-05, -0.35320600867271423, -0.06979279220104218, -0.13345551490783691, -0.0039687203243374825, -5.140090433997102e-05, -0.00011418263602536172, -0.0014515819493681192, -2.883908018702641e-05, -0.00011439750232966617, -0.02616337314248085, -5.771412543253973e-05, -0.00013135677727404982, -0.001570211024954915, -0.00010951409058179706, -0.0004565869166981429, -0.2544723451137543, -4.627287489711307e-05, -0.00010350784577894956, -0.0008746563689783216, -9.453281381865963e-05, -0.003021585289388895], "max": [0.005427211057394743, 0.04490058124065399, 0.12663978338241577, 1.6246697214228334e-06, 0.000282114720903337, 2.2930707928026095e-05, 0.00034158051130361855, 0.010672414675354958, 0.031208988279104233, 1.8069249563268386e-06, 5.141308793099597e-05, 6.696033779007848e-06, 0.0012581461342051625, 0.024965984746813774, 0.07492785900831223, 1.9964793409599224e-06, 0.00011474517668830231, 7.93294657341903e-06, 0.000538444728590548, 0.027058018371462822, 0.08010509610176086, 1.4266410062191426e-06, 0.00014434293552767485, 5.857640644535422e-06, 0.003972022328525782, 0.013319935649633408, 0.03899244964122772, 2.066587512672413e-06, 0.00021300082153175026, 8.06596926850034e-06, 7.040495872497559, 16.85120391845703, 12.29304027557373, 1.6992335076793097e-06, 0.043434008955955505, 0.10569377988576889, 8.353266716003418, 20.095657348632812, 26.33894157409668, 1.8081093458022224e-06, 0.011248033493757248, 0.18609249591827393, 0.039136480540037155, 0.02288202755153179, 0.07251647114753723, 2.107152113239863e-06, 0.0003567463718354702, 0.000566390750464052, 0.0027508647181093693, 0.02531774528324604, 0.07683642208576202, 2.414459913779865e-06, 0.00020374964515212923, 1.193808566313237e-05, 0.0020638753194361925, 0.027201229706406593, 0.04167163372039795, 1.951371814357117e-06, 0.0007163082482293248, 1.831086410675198e-05], "mean": [-0.0022801964078098536, 0.007544875144958496, 0.02177242748439312, -0.00041523436084389687, 2.5400007871212438e-05, -4.9387224862584844e-05, -0.00018152507254853845, 0.0007113787578418851, 0.002127730753272772, -3.789497714024037e-05, 1.4460085822065594e-06, -3.7589006751659326e-06, -0.0007908556726761162, 0.002033007564023137, 0.005964427720755339, -0.00010254165681544691, -6.258212579268729e-07, -1.2010836144327186e-05, -0.0012677662307396531, 0.0019757295958697796, 0.005835689604282379, -0.0001024622397380881, 6.9719553721370175e-06, -2.5365834517288022e-05, -0.00021446315804496408, 0.0011018161894753575, 0.0031698844395577908, -4.0785780583973974e-05, -2.8100803319830447e-06, 2.727771857280459e-07, 1.502327799797058, 2.4622180461883545, 4.809238433837891, -0.08549612015485764, 0.010369215160608292, 0.02128121256828308, -2.682872772216797, 1.1586052179336548, 8.74574089050293, -0.13812273740768433, -0.01097044162452221, -0.04266360402107239, 0.0027495778631418943, 0.004498383961617947, 0.013711325824260712, -0.00023920982494018972, 6.237969500944018e-05, 2.6235918994643725e-05, -0.0015112090623006225, 0.0033203826751559973, 0.009833510965108871, -0.0002051464543910697, 7.675529332118458e-07, -3.2279254810418934e-05, -0.0007689149351790547, 0.0019078049808740616, 0.005490890238434076, -0.00010781321907415986, -5.129842520545935e-06, -1.2303337825869676e-05], "std": [0.0028437706641852856, 0.008776948787271976, 0.025020383298397064, 0.0005211438401602209, 4.8098881961777806e-05, 6.11645809840411e-05, 0.0008071220945566893, 0.0013156607747077942, 0.0038698981516063213, 7.008046668488532e-05, 8.126849024847616e-06, 1.7101579942391254e-05, 0.001380652072839439, 0.0030285469256341457, 0.008901209570467472, 0.00017431298329029232, 1.0952622687909752e-05, 2.722287354117725e-05, 0.002831944264471531, 0.0036164307966828346, 0.010659568011760712, 0.0001977530773729086, 2.0374882296891883e-05, 5.817801138618961e-05, 0.0007280812133103609, 0.0015513721155002713, 0.004458306357264519, 5.892670378671028e-05, 9.970227438316215e-06, 9.530447641736828e-06, 1.9826563596725464, 2.426196336746216, 4.020812034606934, 0.0726863220334053, 0.014185539446771145, 0.032236043363809586, 2.558959722518921, 2.0883994102478027, 7.593539714813232, 0.11953455954790115, 0.0156782865524292, 0.04261411726474762, 0.005368966609239578, 0.00505285058170557, 0.015723735094070435, 0.00027483978192321956, 7.60979310143739e-05, 7.283738523256034e-05, 0.002845523413270712, 0.004653682466596365, 0.013791833072900772, 0.00029168365290388465, 2.4753802790655755e-05, 5.853876064065844e-05, 0.005431376397609711, 0.00243869936093688, 0.006932683754712343, 0.00013942783698439598, 2.293401848874055e-05, 6.686228880425915e-05], "count": [2473]}, "timestamp": {"min": [0.0], "max": [82.4], "mean": [41.2], "std": [23.79645164958656], "count": [2473]}, "frame_index": {"min": [0], "max": [2472], "mean": [1236.0], "std": [713.8935494875969], "count": [2473]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [2473]}, "index": {"min": [114609], "max": [117081], "mean": [115845.0], "std": [713.8935494875969], "count": [2473]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2473]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5704180002212524]], [[0.5709054470062256]], [[0.5713512301445007]]], "std": [[[0.30230993032455444]], [[0.3016776442527771]], [[0.3023264408111572]]], "count": [2473]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30119791626930237]], [[0.3051072359085083]], [[0.30348604917526245]]], "std": [[[0.1817169487476349]], [[0.18243858218193054]], [[0.18304941058158875]]], "count": [2473]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30890339612960815]], [[0.31305235624313354]], [[0.3107839822769165]]], "std": [[[0.1832440346479416]], [[0.18317101895809174]], [[0.1831163614988327]]], "count": [2473]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5735056400299072]], [[0.5737109184265137]], [[0.5737504363059998]]], "std": [[[0.30666178464889526]], [[0.30630242824554443]], [[0.3071936070919037]]], "count": [2473]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176652908325]], [[0.6941176652908325]], [[0.6941176652908325]]], "mean": [[[0.004212790634483099]], [[0.004212790634483099]], [[0.004212790634483099]]], "std": [[[0.041332412511110306]], [[0.041332412511110306]], [[0.041332412511110306]]], "count": [2473]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4908795654773712]], [[0.4908795654773712]], [[0.4908795654773712]]], "std": [[[0.22170239686965942]], [[0.22170239686965942]], [[0.22170239686965942]]], "count": [2473]}}}
+{"episode_index": 45, "stats": {"observation.state": {"min": [1.0500003099441528, -0.7800002098083496, -0.2249242514371872, 1.126387596130371, -0.05822715535759926, -0.7699997425079346, 0.24489273130893707, 0.00691685825586319, -0.0007891973946243525, -0.24596571922302246, 0.004034870304167271, 0.003528609871864319, 0.003621082752943039, -0.12556137144565582, 0.0034516695886850357, 0.0008535890956409276, -0.0014463721308857203, -0.12392143905162811, 0.002963436534628272, 0.0008309744880534708, -0.0018948079086840153, -0.026912685483694077, 0.0027244610246270895, 0.0008176717674359679, 0.005669635254889727, -0.002087133005261421, -0.003875473514199257, 0.002318131970241666, 0.0008522588177584112, 0.9693989157676697, -1.148529052734375, -0.2428365796804428, 1.020207166671753, -1.8291188478469849, -0.7690948247909546, -0.3137972056865692, 0.005621042568236589, -0.13061285018920898, -0.20247554779052734, -0.23979777097702026, 0.00325807835906744, 0.005286030005663633, -0.08396933972835541, 0.003581794211640954, 0.0008256534347310662, 0.00530295679345727, -0.10207891464233398, 0.003514427226036787, 0.0008819681243039668, -0.0016276591923087835, -0.15423442423343658, 0.003564774990081787, 0.000881524698343128, 0.006363220978528261, -0.0019198282388970256, -0.1750098317861557, 0.003215885255485773, 0.0008691088296473026, 0.5624915957450867, -1.1070547103881836, 0.5438920855522156, -0.000862864195369184, -9.58738019107841e-05, -0.002205097349360585, -0.7429260611534119], "max": [1.212899088859558, -0.6552147269248962, -2.396844820395927e-07, 1.569999098777771, 0.1762654185295105, 0.05857517570257187, 0.5758458971977234, 1.3780810832977295, 0.2971833348274231, 0.0003704736882355064, 0.2796551585197449, 0.5887278914451599, 0.5472449064254761, 0.08947760611772537, 0.04539681226015091, 0.04549430310726166, 0.3469964563846588, 0.17672090232372284, 0.04563720524311066, 0.03614605963230133, 0.11870337277650833, 0.18962395191192627, 0.018669862300157547, 0.017797663807868958, 0.24091830849647522, 0.1437084823846817, 0.2212284952402115, 0.022733507677912712, 0.022374233230948448, 1.4128191471099854, -0.3349195420742035, -0.00047062052180990577, 1.7995753288269043, 0.22484850883483887, -0.06542931497097015, 0.6981435418128967, 1.3258252143859863, 0.2788446545600891, 0.4228363335132599, 0.276286244392395, 0.38100793957710266, 1.0632106065750122, 0.1158454492688179, 0.5353991389274597, 0.31321972608566284, 1.4386639595031738, 0.20938153564929962, 1.2820429801940918, 0.4728018641471863, 1.4368764162063599, 0.21899908781051636, 1.4661787748336792, 0.9863871335983276, 0.2498064637184143, 1.3328322172164917, 0.21563950181007385, 1.3886061906814575, 1.308187484741211, 0.5627791881561279, -1.106767177581787, 0.5443714261054993, 0.0003834952076431364, 9.58738019107841e-05, 0.09520268440246582, -0.5999782085418701], "mean": [1.154275894165039, -0.6866623163223267, -0.22246053814888, 1.1609477996826172, 0.08072798699140549, -0.004061572719365358, 0.30149587988853455, 1.3405125141143799, 0.29073113203048706, -0.08757922798395157, 0.2121662050485611, 0.5723413825035095, 0.4858226180076599, 0.07747496664524078, 0.04003317654132843, 0.03978689759969711, 0.29472512006759644, 0.16297926008701324, 0.041496455669403076, 0.032854966819286346, 0.07716801762580872, 0.1643434315919876, 0.012130117043852806, 0.012214542366564274, 0.09458161890506744, 0.1088414341211319, 0.19472777843475342, 0.019211573526263237, 0.018856503069400787, 1.2711362838745117, -0.5870389938354492, -0.22956770658493042, 1.2837741374969482, -1.3838739395141602, -0.3028284013271332, -0.039571188390254974, 1.212267279624939, 0.018609071150422096, 0.13678038120269775, -0.03311603516340256, 0.17180244624614716, 0.8761394023895264, 0.05814993008971214, 0.22427712380886078, 0.18149146437644958, 1.2369513511657715, -0.0675554946064949, 1.1592434644699097, 0.25912901759147644, 1.3388772010803223, -0.12090146541595459, 1.2986983060836792, 0.6396912336349487, 0.032229453325271606, 1.2458093166351318, -0.13998152315616608, 0.8653319478034973, 1.25271475315094, 0.5626988410949707, -1.1068652868270874, 0.5440782904624939, -0.0004908182309009135, 6.939833951946639e-08, 0.05784355103969574, -0.6958855390548706], "std": [0.024655267596244812, 0.019719604402780533, 0.020310422405600548, 0.05039157718420029, 0.01790488511323929, 0.09768914431333542, 0.05185558646917343, 0.13647355139255524, 0.031954653561115265, 0.025966133922338486, 0.026703400537371635, 0.0670333132147789, 0.07029265910387039, 0.01580430194735527, 0.006277198903262615, 0.005320286378264427, 0.058715734630823135, 0.02922782488167286, 0.0074173277243971825, 0.005690372083336115, 0.029915085062384605, 0.030975883826613426, 0.004905499052256346, 0.004423697013407946, 0.04404822736978531, 0.03510557860136032, 0.0279990304261446, 0.004704130347818136, 0.004534576088190079, 0.10968759655952454, 0.18421874940395355, 0.020803509280085564, 0.19584441184997559, 0.32138490676879883, 0.13500253856182098, 0.16912336647510529, 0.1378616839647293, 0.07919660210609436, 0.14440374076366425, 0.10230095684528351, 0.09134012460708618, 0.1634347289800644, 0.01927589811384678, 0.13092851638793945, 0.06419814378023148, 0.21014678478240967, 0.033948857337236404, 0.23143255710601807, 0.06874026358127594, 0.23611794412136078, 0.04696705937385559, 0.26070916652679443, 0.19500233232975006, 0.025369303300976753, 0.22315874695777893, 0.05075633525848389, 0.2396383285522461, 0.24728670716285706, 4.605991125572473e-05, 3.491591996862553e-05, 5.114747182233259e-05, 0.0001758809230523184, 4.467198778002057e-06, 0.017132962122559547, 0.024911319836974144], "count": [2763]}, "observation.state.joint_torque": {"min": [-33.19200134277344, -12.439499855041504, -16.82200050354004, -9.406999588012695, -0.520799994468689, -1.6687999963760376, 1.304800033569336, -3.382488965988159, -1.2684333324432373, -0.29327476024627686, -1.5881571769714355, -0.7836409211158752, -1.2377088069915771, -0.37323158979415894, -0.06807050108909607, -0.039242662489414215, -0.2225957065820694, -0.3463665843009949, -0.12949997186660767, -0.032821137458086014, -0.329096257686615, -0.49604299664497375, -0.08135254681110382, -0.0321076326072216, -0.0971960499882698, -0.2158794403076172, -0.5161917805671692, -0.0796922892332077, -0.032821137458086014, 1.809000015258789, -9.883500099182129, -7.73799991607666, -9.131999969482422, -2.1672000885009766, -7.1255998611450195, -3.406399965286255, -1.8275119066238403, -0.8188782334327698, -0.7605260014533997, -0.7654967308044434, -0.12285894900560379, -0.5305837392807007, -0.864477276802063, -0.10791664570569992, -0.07349080592393875, -1.1005054712295532, -1.068843126296997, -0.23741662502288818, -0.04138316959142685, -0.6697060465812683, -0.39146143198013306, -0.3171089291572571, -0.06207476183772087, -0.1323801428079605, -1.0343024730682373, -0.47205638885498047, -0.1328205019235611, -0.1148739829659462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.054500579833984, 8.255999565124512, -10.74899959564209, 2.552000045776367, 1.402400016784668, 1.1712000370025635, 2.3255999088287354, 0.5616256594657898, 0.258526086807251, 1.014034628868103, 0.30818700790405273, 0.07305127382278442, 0.6284490823745728, 0.73494952917099, 0.10957689583301544, 0.01712406985461712, 0.44615086913108826, 1.4593451023101807, 0.12285894900560379, 0.020691584795713425, 0.32813674211502075, 0.40585339069366455, 0.08965382725000381, 0.016410568729043007, 0.07168757915496826, 0.17654143273830414, 0.35883966088294983, 0.11123716086149216, 0.012843053787946701, 38.662498474121094, 10.163999557495117, 19.47100067138672, 3.062999963760376, 0.4007999897003174, 3.0871999263763428, 2.593600034713745, 2.2477760314941406, 4.821575164794922, 2.408332586288452, 1.3097947835922241, 0.6890062689781189, 2.145362138748169, 0.6332463622093201, 1.0592433214187622, 0.21405088901519775, 0.47013747692108154, 0.17078463733196259, 0.3968012034893036, 0.04923170804977417, 0.3386908769607544, 0.2935960590839386, 0.35861530900001526, 0.12914402782917023, 0.12006568908691406, 0.5094755291938782, 0.400096595287323, 0.4034422039985657, 0.10631193965673447, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.063705444335938, 2.5609188079833984, -12.967525482177734, -1.6049895286560059, -0.06733333319425583, -0.17694470286369324, 1.6342169046401978, -0.0021147059742361307, -0.0023838880006223917, 0.019270973280072212, 0.004004267044365406, 0.0009067430510185659, 0.01773434318602085, 0.010052326135337353, 0.000578656850848347, 0.00022388943762052804, 0.0176142156124115, -0.00035975908394902945, 0.0005317868199199438, 4.131770401727408e-05, 0.020924240350723267, 0.02059493400156498, 0.0018958058208227158, 0.00017405030666850507, -0.005076863802969456, 0.0065602995455265045, -0.001156349084340036, 0.0005005407147109509, 6.55914845992811e-05, 27.330997467041016, 0.7524514198303223, 12.561711311340332, -1.75959312915802, -0.5420387387275696, 1.444790244102478, -0.8128494620323181, 0.3645550310611725, 1.6630990505218506, 0.4692400097846985, 0.1577972024679184, 0.18317578732967377, 1.0373296737670898, -0.13268762826919556, 0.4884043335914612, 0.11424507945775986, -0.08807022124528885, -0.10958404839038849, 0.000764933880418539, 0.0005815448239445686, 0.006639495957642794, 0.00020210315415170044, -0.001424103626050055, -0.002416058909147978, -0.0013937379699200392, -0.016035493463277817, 0.012063628993928432, -0.019277721643447876, 0.004102555103600025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.5486405491828918, 0.7793189883232117, 0.4298045337200165, 0.6384744048118591, 0.20317520201206207, 0.34973302483558655, 0.16906167566776276, 0.0721912682056427, 0.03009326197206974, 0.05069185420870781, 0.056464485824108124, 0.0165010504424572, 0.05949261412024498, 0.042854391038417816, 0.006786040496081114, 0.003875198308378458, 0.03960907831788063, 0.044408511370420456, 0.011053931899368763, 0.0030949567444622517, 0.0455569289624691, 0.05127068981528282, 0.01020292192697525, 0.0034170770086348057, 0.013201037421822548, 0.019693834707140923, 0.045645520091056824, 0.0068945069797337055, 0.003303836565464735, 4.9865217208862305, 1.9897537231445312, 2.5519022941589355, 1.7692852020263672, 0.32487741112709045, 1.044804334640503, 0.5529077053070068, 0.5953560471534729, 1.7128850221633911, 0.5854631662368774, 0.32729214429855347, 0.18963320553302765, 0.9287161231040955, 0.25919464230537415, 0.44700419902801514, 0.0984320119023323, 0.18825413286685944, 0.17395074665546417, 0.026863133534789085, 0.00790719036012888, 0.06646834313869476, 0.0528402216732502, 0.02676757611334324, 0.009988744743168354, 0.016906512901186943, 0.11146047711372375, 0.08188096433877945, 0.036547865718603134, 0.006752329412847757, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2763]}, "observation.state.tcp": {"min": [0.3615304231643677, 0.19242849946022034, 0.9722654223442078, -1.310876488685608, 1.2176774740219116, -1.5257328748703003, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23834584653377533, -0.26450392603874207, 0.9613386392593384, -0.7584282159805298, 1.1938410997390747, 0.41114339232444763, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4172227084636688, 0.24453161656856537, 1.0519793033599854, -0.9725204110145569, 1.816711664199829, -1.2289533615112305, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46560677886009216, -0.058207347989082336, 1.1370856761932373, 1.2083860635757446, 1.9639281034469604, 1.6295772790908813, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4055491089820862, 0.22985097765922546, 0.9879658222198486, -1.274869441986084, 1.7340333461761475, -1.4647057056427002, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40345948934555054, -0.13768333196640015, 1.0573581457138062, -0.2825355529785156, 1.7198141813278198, 0.6492356061935425, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00584487384185195, 0.005901321768760681, 0.014987308531999588, 0.03932679072022438, 0.08486578613519669, 0.03339477628469467, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05806640163064003, 0.058187879621982574, 0.04543616622686386, 0.30093446373939514, 0.13484011590480804, 0.17447692155838013, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2763]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.22491994500160217, 1.1263808012008667, -0.0581972636282444, -0.7699999809265137, 0.24491114914417267, 0.0, 0.0, -0.2512907087802887, 0.0, 0.0, 0.0, -0.12967230379581451, 0.0, 0.0, 0.0, -0.13159804046154022, 0.0, 0.0, 0.0, -0.09091033041477203, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9694036841392517, -1.1486139297485352, -0.24283674359321594, 1.0201914310455322, -1.829101324081421, -0.7686458230018616, -0.3139612376689911, 0.0, -0.13341574370861053, -0.20642207562923431, -0.240605428814888, 0.0, 0.0, -0.08540094643831253, 0.0, 0.0, 0.0, -0.10749239474534988, 0.0, 0.0, 0.0, -0.15843434631824493, 0.0, 0.0, -1.938328830775049e-09, 0.0, -0.17950932681560516, 0.0, 0.0, 0.5625874400138855, -1.1068999767303467, 0.5439879298210144, -0.0008253456908278167, -1.3358446267375257e-05, -0.0021110891830176115, -0.7431232929229736], "max": [1.2129042148590088, -0.6552115082740784, 0.0, 1.5700000524520874, 0.17654384672641754, 0.05858378857374191, 0.5757783055305481, 1.3905192613601685, 0.29445287585258484, 0.0, 0.28362226486206055, 0.5990212559700012, 0.5565898418426514, 0.09279634058475494, 0.05075543373823166, 0.04724106565117836, 0.3547457158565521, 0.17687006294727325, 0.05020028352737427, 0.04080453887581825, 0.12439750880002975, 0.19167432188987732, 0.023457948118448257, 0.02131541259586811, 0.26180002093315125, 0.14977619051933289, 0.22662143409252167, 0.028455978259444237, 0.027197007089853287, 1.412819266319275, -0.3348102867603302, -0.0015332693001255393, 1.8014806509017944, 0.22481980919837952, -0.06560484319925308, 0.7090816497802734, 1.3355426788330078, 0.2914278507232666, 0.4252099394798279, 0.2814822793006897, 0.3868087828159332, 1.1650465726852417, 0.1230824887752533, 0.551235556602478, 0.3626469373703003, 1.5008561611175537, 0.24413788318634033, 1.2870124578475952, 0.48714032769203186, 1.510054349899292, 0.24130435287952423, 1.4696636199951172, 0.9874742031097412, 0.25943201780319214, 1.338550329208374, 0.25015297532081604, 1.3904352188110352, 1.4126830101013184, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 0.00042179544107057154, 1.1007417015207466e-05, 0.09624101966619492, -0.6000000238418579], "mean": [1.1542969942092896, -0.6866734027862549, -0.22246825695037842, 1.1609489917755127, 0.0807151198387146, -0.004125867038965225, 0.3015427589416504, 1.350935697555542, 0.29019907116889954, -0.08359087258577347, 0.214316263794899, 0.5791234970092773, 0.49055224657058716, 0.0775887742638588, 0.04597681760787964, 0.043323345482349396, 0.30155065655708313, 0.16364023089408875, 0.04577704146504402, 0.036926016211509705, 0.07917612046003342, 0.16845643520355225, 0.01748620718717575, 0.015857940539717674, 0.08780749142169952, 0.11396563798189163, 0.19784113764762878, 0.023458322510123253, 0.022605791687965393, 1.272078037261963, -0.587587833404541, -0.22959737479686737, 1.2842456102371216, -1.383854866027832, -0.3034602701663971, -0.0394134484231472, 1.215599536895752, 0.025294309481978416, 0.1372377723455429, -0.033325329422950745, 0.17287807166576385, 0.8974282145500183, 0.050797563046216965, 0.23539607226848602, 0.20750945806503296, 1.2372710704803467, -0.06734492629766464, 1.1583256721496582, 0.2591424882411957, 1.3397433757781982, -0.12032783031463623, 1.2974812984466553, 0.6396021246910095, 0.033655282109975815, 1.2459402084350586, -0.13980165123939514, 0.8632442355155945, 1.3002238273620605, 0.5627034306526184, -1.106871247291565, 0.5441514849662781, -0.0005339538329280913, -1.9954207175487682e-07, 0.057881053537130356, -0.695946455001831], "std": [0.024674702435731888, 0.01973138563334942, 0.02032061293721199, 0.050377342849969864, 0.017988193780183792, 0.09789282083511353, 0.0519510842859745, 0.14586332440376282, 0.031514476984739304, 0.026761507615447044, 0.027230367064476013, 0.06612749397754669, 0.07008838653564453, 0.015624935738742352, 0.006098641082644463, 0.005618940107524395, 0.05906366556882858, 0.028501754626631737, 0.0077842590399086475, 0.006402532570064068, 0.03176568076014519, 0.030656293034553528, 0.004962921608239412, 0.004541362635791302, 0.046759530901908875, 0.034632373601198196, 0.027635186910629272, 0.0055289920419454575, 0.005267570726573467, 0.10957591980695724, 0.18489910662174225, 0.020720355212688446, 0.1962580531835556, 0.32239454984664917, 0.13542969524860382, 0.1696849912405014, 0.14580290019512177, 0.08177917450666428, 0.14484459161758423, 0.10173328965902328, 0.09428949654102325, 0.17789366841316223, 0.019326750189065933, 0.13105562329292297, 0.08554700016975403, 0.20440736413002014, 0.03564991429448128, 0.23076026141643524, 0.06845211237668991, 0.2289370596408844, 0.047048989683389664, 0.2596512734889984, 0.19468465447425842, 0.027626339346170425, 0.21651393175125122, 0.05046467110514641, 0.23776130378246307, 0.25851741433143616, 2.0802659491891973e-05, 8.549069207219873e-06, 1.785442145774141e-05, 0.0001800543104764074, 5.246428827376803e-06, 0.017156332731246948, 0.02493426389992237], "count": [2763]}, "observation.state.tcp_pose": {"min": [0.3615304231643677, 0.19242849946022034, 0.9722654223442078, -1.310876488685608, 1.2176774740219116, -1.5257328748703003, 0.23834584653377533, -0.26450392603874207, 0.9613386392593384, -0.7584282159805298, 1.1938410997390747, 0.41114339232444763], "max": [0.4172227084636688, 0.24453161656856537, 1.0519793033599854, -0.9725204110145569, 1.816711664199829, -1.2289533615112305, 0.46560677886009216, -0.058207347989082336, 1.1370856761932373, 1.2083860635757446, 1.9639281034469604, 1.6295772790908813], "mean": [0.4055491089820862, 0.22985097765922546, 0.9879658222198486, -1.274869441986084, 1.7340333461761475, -1.4647057056427002, 0.40345948934555054, -0.13768333196640015, 1.0573581457138062, -0.2825355529785156, 1.7198141813278198, 0.6492356061935425], "std": [0.00584487384185195, 0.005901321768760681, 0.014987308531999588, 0.03932679072022438, 0.08486578613519669, 0.03339477628469467, 0.05806640163064003, 0.058187879621982574, 0.04543616622686386, 0.30093446373939514, 0.13484011590480804, 0.17447692155838013], "count": [2763]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.1924280971288681, 0.9722549915313721, -1.3109400272369385, 1.2178406715393066, -1.5260838270187378, 0.2382715940475464, -0.2646324634552002, 0.9613054394721985, -0.7586072683334351, 1.1955935955047607, 0.41045069694519043], "max": [0.4172130823135376, 0.2445141226053238, 1.0518072843551636, -0.9728454947471619, 1.8166548013687134, -1.2289543151855469, 0.46556761860847473, -0.0581866055727005, 1.1377074718475342, 1.2083739042282104, 1.964103102684021, 1.632331371307373], "mean": [0.40556418895721436, 0.22986169159412384, 0.9879385232925415, -1.2749011516571045, 1.7339650392532349, -1.4646899700164795, 0.40356960892677307, -0.13783764839172363, 1.0578447580337524, -0.2825578451156616, 1.7180016040802002, 0.6490011811256409], "std": [0.005834788549691439, 0.0058890450745821, 0.015012522228062153, 0.03942283242940903, 0.08505428582429886, 0.03342616185545921, 0.058009061962366104, 0.05846016854047775, 0.04557306692004204, 0.30196288228034973, 0.13672201335430145, 0.17423920333385468], "count": [2763]}, "subtask_index": {"min": [54], "max": [2478], "mean": [2395.690915671372], "std": [358.0406668084866], "count": [2763]}, "observation.tactile": {"min": [-0.0076515162363648415, -4.305582115193829e-05, -9.443658927921206e-05, -0.0011408154387027025, -6.554584979312494e-05, -0.00014192817616276443, -0.0026344750076532364, -4.658742545871064e-05, -0.00010656876111170277, -0.0005921152187511325, -2.226008291472681e-05, -5.791741205030121e-05, -0.01129660289734602, -4.904409433947876e-05, -0.00010941055370494723, -0.0010237771784886718, -4.212683779769577e-05, -0.00023518686066381633, -0.02201523631811142, -3.779924736591056e-05, -8.163274469552562e-05, -0.0013645795406773686, -4.379281563160475e-06, -0.00046707765432074666, -0.007831282913684845, -4.317363345762715e-05, -9.582571510691196e-05, -0.0009927945211529732, -7.28513186913915e-05, -0.00020000830409117043, -0.920059859752655, -3.9387570723192766e-05, -9.161327034235e-05, -0.20136556029319763, -0.0032711997628211975, -0.03775270655751228, -5.655172824859619, -0.14458288252353668, -0.00010316692350897938, -0.2416461706161499, -0.027826813980937004, -0.09986941516399384, -0.017934948205947876, -4.5423283154377714e-05, -0.00010046227544080466, -0.0020325675141066313, -2.1872410798096098e-05, -0.0004109902074560523, -0.007982544600963593, -5.682962728315033e-05, -0.00012864416930824518, -0.002042338950559497, -6.188002589624375e-05, -0.00018516767886467278, -0.23217877745628357, -4.6989523980300874e-05, -0.00010610520985210314, -0.0011444332776591182, -0.00028334936359897256, -0.003587279701605439], "max": [0.004104482010006905, 0.01781880110502243, 0.05353189632296562, 1.787413111742353e-06, 0.00019411786342971027, 1.9234706996940076e-05, 0.00034274300560355186, 0.011756123043596745, 0.03368004411458969, 1.8111161352862837e-06, 7.32630942366086e-05, 6.698797278659185e-06, 0.006784815341234207, 0.016101256012916565, 0.048098575323820114, 2.051056753771263e-06, 0.00022264088329393417, 8.1685371696949e-05, 0.015536293387413025, 0.02591359056532383, 0.07582953572273254, 1.53834332650149e-06, 0.00030529071227647364, 0.00020192259398754686, 0.009342552162706852, 0.01782010681927204, 0.04956800118088722, 1.774923589437094e-06, 0.00024599660537205637, 9.177031461149454e-05, 6.6813249588012695, 16.265687942504883, 12.45920181274414, 1.6848315453898977e-06, 0.03636123239994049, 0.13205426931381226, 3.7987558841705322, 22.988910675048828, 19.216808319091797, 1.9681474441313185e-06, 0.004367922432720661, 0.1293550431728363, 0.04478365182876587, 0.034298259764909744, 0.10250730812549591, 1.8622961306391517e-06, 0.00046704799751751125, 0.0005823625833727419, 0.15125298500061035, 0.0382603257894516, 0.10492300987243652, 2.357508265049546e-06, 0.0007659963448531926, 0.002695941599085927, 0.02692320942878723, 0.03458473086357117, 0.07436106353998184, 1.9637504919955973e-06, 0.00037889275699853897, 0.0005126933101564646], "mean": [-3.65234118362423e-05, 0.0006576307350769639, 0.0019899385515600443, -3.1706953450338915e-05, -3.236146994822775e-07, 5.291376510285772e-07, 3.5294175177114084e-05, 0.00045455974759534, 0.0013662864221259952, -2.555743049015291e-05, 1.2114602441215538e-06, -6.857055723230587e-08, 4.254718078300357e-06, 0.000767389836255461, 0.002292538760229945, -3.707935684360564e-05, 2.9098305276420433e-06, 5.8410609682368886e-08, -0.0013323844177648425, 0.0030361004173755646, 0.008909004740417004, -0.00015935326518956572, 2.403431062703021e-05, -3.153573561576195e-05, -0.0002092750510200858, 0.001531090121716261, 0.004455257207155228, -6.897146522533149e-05, 8.94399363460252e-06, -5.006768788007321e-06, 1.9187532663345337, 2.642920732498169, 4.413414478302002, -0.08401347696781158, 0.008521279320120811, 0.0315142497420311, -1.948049783706665, 1.3983604907989502, 5.737668514251709, -0.08661391586065292, -0.0042809126898646355, -0.029342811554670334, 0.004943320993334055, 0.009717616252601147, 0.029686681926250458, -0.0004999548546038568, 0.00014225987251847982, 3.162735447403975e-05, 0.0005044174031354487, 0.0010345079936087132, 0.003104649018496275, -4.61510535387788e-05, 9.12321684154449e-06, 6.769593255739892e-06, -0.0007474234444089234, 0.0012436056276783347, 0.0035200256388634443, -7.00472664902918e-05, 3.7386769236036344e-06, -1.3245760783320293e-05], "std": [0.0008461812394671142, 0.0018567994702607393, 0.005478494334965944, 9.51176043599844e-05, 1.7347672837786376e-05, 1.5111891116248444e-05, 0.00048235751455649734, 0.0010953849414363503, 0.0032070160377770662, 5.893627894693054e-05, 5.475026227941271e-06, 1.0433590432512574e-05, 0.0010147143620997667, 0.0018701611552387476, 0.005486148875206709, 9.592820424586535e-05, 1.506133412476629e-05, 1.8954418919747695e-05, 0.003129345364868641, 0.004455531481653452, 0.013024737127125263, 0.00024065199249889702, 3.92892980016768e-05, 6.297720392467454e-05, 0.0008952019270509481, 0.002330689923837781, 0.006719052791595459, 0.00011130295024486259, 2.167832644772716e-05, 1.7901933460962027e-05, 1.9622478485107422, 2.4814651012420654, 3.739375591278076, 0.07102344930171967, 0.00939970463514328, 0.035202302038669586, 1.8572670221328735, 2.3957338333129883, 4.947502136230469, 0.07417625188827515, 0.006051615811884403, 0.03133108466863632, 0.006900147534906864, 0.006003211718052626, 0.018666889518499374, 0.0003034016699530184, 9.62695776252076e-05, 9.067987411981449e-05, 0.005243061110377312, 0.0030162003822624683, 0.008798164315521717, 0.00014942757843527943, 4.1651139326859266e-05, 9.13165058591403e-05, 0.011082981713116169, 0.0029650924261659384, 0.007746673654764891, 0.00015142197662498802, 3.3352676837239414e-05, 0.00016925782256294042], "count": [2763]}, "timestamp": {"min": [0.0], "max": [92.06666666666666], "mean": [46.03333333333333], "std": [26.58697815486761], "count": [2763]}, "frame_index": {"min": [0], "max": [2762], "mean": [1381.0], "std": [797.6093446460283], "count": [2763]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [2763]}, "index": {"min": [117082], "max": [119844], "mean": [118463.0], "std": [797.6093446460283], "count": [2763]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2763]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.565923273563385]], [[0.5664277076721191]], [[0.5669548511505127]]], "std": [[[0.29908713698387146]], [[0.29836419224739075]], [[0.2990521788597107]]], "count": [2763]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3015311062335968]], [[0.30562862753868103]], [[0.30406805872917175]]], "std": [[[0.18169988691806793]], [[0.18230348825454712]], [[0.18291237950325012]]], "count": [2763]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31060609221458435]], [[0.313876748085022]], [[0.3114842474460602]]], "std": [[[0.1841031163930893]], [[0.18386368453502655]], [[0.18368779122829437]]], "count": [2763]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5666542053222656]], [[0.5668474435806274]], [[0.5669106245040894]]], "std": [[[0.3037509620189667]], [[0.30336466431617737]], [[0.3043021857738495]]], "count": [2763]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6901960968971252]], [[0.6901960968971252]], [[0.6901960968971252]]], "mean": [[[0.004120985046029091]], [[0.004120985046029091]], [[0.004120985046029091]]], "std": [[[0.039683081209659576]], [[0.039683081209659576]], [[0.039683081209659576]]], "count": [2763]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4903631806373596]], [[0.4903631806373596]], [[0.4903631806373596]]], "std": [[[0.22160759568214417]], [[0.22160759568214417]], [[0.22160759568214417]]], "count": [2763]}}}
+{"episode_index": 46, "stats": {"observation.state": {"min": [1.0501506328582764, -0.779872477054596, -0.22482982277870178, 1.110326886177063, 3.307645965833217e-05, -0.7688264846801758, 0.195698082447052, 0.006912521552294493, -0.0007920881034806371, -0.24415917694568634, 0.004016119055449963, 0.003504499327391386, -0.0009959754534065723, -0.12271449714899063, 0.003482162021100521, 0.0008287574164569378, -0.0033173842821270227, -0.08010906726121902, 0.00297832814976573, 0.0008398429490625858, -0.0032214659731835127, -0.026922496035695076, 0.0027836731169372797, 0.0008425034466199577, 0.004942868836224079, -0.0028483436908572912, -0.024541476741433144, 0.002328059868887067, 0.0008323047659359872, 0.9906776547431946, -1.17731511592865, -0.24265742301940918, 1.042810320854187, -1.7566322088241577, -0.766895592212677, -0.30680719017982483, 0.005585087928920984, -0.11352626234292984, -0.1827845722436905, -0.17132657766342163, 0.00324921403080225, 0.0052924081683158875, -0.10276652872562408, 0.003560875076800585, 0.0008229928789660335, 0.0017306917579844594, -0.10904460400342941, 0.003518327372148633, 0.0008558061672374606, -0.0028059082105755806, -0.15214656293392181, 0.003755884477868676, 0.0008478245581500232, 0.006788149476051331, -0.002230642829090357, -0.17352472245693207, 0.0032318406738340855, 0.000870439107529819, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0009587379754520953, -9.58738019107841e-05, 0.0, -0.7458022832870483], "max": [1.251149296760559, -0.6291755437850952, -0.00048404285917058587, 1.5694786310195923, 0.09444396197795868, 0.08433011174201965, 0.5920535326004028, 1.3165780305862427, 0.2986479103565216, 0.0003786184242926538, 0.28451091051101685, 0.4847445487976074, 0.42049771547317505, 0.10709311813116074, 0.03779533877968788, 0.03612344712018967, 0.21138723194599152, 0.17652392387390137, 0.030237475410103798, 0.027163200080394745, 0.029088865965604782, 0.1805868148803711, 0.002839339431375265, 0.0037850576918572187, 0.24087335169315338, 0.0411553792655468, 0.2284633070230484, 0.007649693638086319, 0.00861570704728365, 1.4463956356048584, -0.3242301344871521, -0.0024331570602953434, 1.85318922996521, 0.14919760823249817, -0.005680043250322342, 0.6981146335601807, 1.352841854095459, 0.2676534652709961, 0.47401949763298035, 0.20426806807518005, 0.25136661529541016, 1.0316094160079956, 0.11031282693147659, 0.5039809942245483, 0.28325456380844116, 1.2973296642303467, 0.18966025114059448, 1.3774023056030273, 0.4874614477157593, 1.3830872774124146, 0.18884138762950897, 1.518967866897583, 0.9357650876045227, 0.24196402728557587, 1.2881629467010498, 0.2005814015865326, 1.4052619934082031, 1.3081786632537842, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 0.0, 0.11198059469461441, -0.5998823642730713], "mean": [1.17412269115448, -0.6728271245956421, -0.2222684919834137, 1.173831582069397, 0.09174289554357529, -0.0028902003541588783, 0.2784062623977661, 1.2885665893554688, 0.2901044487953186, -0.10646770149469376, 0.27367979288101196, 0.4654046595096588, 0.35409584641456604, 0.09014174342155457, 0.031010566279292107, 0.030586719512939453, 0.1519704908132553, 0.1479753851890564, 0.02479240670800209, 0.020441090688109398, 0.011023301631212234, 0.14908412098884583, 0.002811417216435075, 0.0022607622668147087, 0.2052554339170456, 0.011518933810293674, 0.21186774969100952, 0.0026667434722185135, 0.0028855162672698498, 1.2493966817855835, -0.616503119468689, -0.23296204209327698, 1.315364122390747, -1.3353745937347412, -0.33171096444129944, -0.007694590371102095, 1.237947702407837, 0.03727246820926666, 0.09737861901521683, -0.022546708583831787, 0.09179789572954178, 0.8442651033401489, 0.050514549016952515, 0.2449188381433487, 0.1145109310746193, 1.2028027772903442, -0.06509789079427719, 1.1877944469451904, 0.27792829275131226, 1.2980360984802246, -0.1153266429901123, 1.3062621355056763, 0.6543412208557129, 0.030644753947854042, 1.1920593976974487, -0.13343998789787292, 0.8759188055992126, 1.2478917837142944, 0.5626950860023499, -1.1068569421768188, 0.5440739989280701, -0.000681798905134201, -1.1836271340825988e-07, 0.08377855271100998, -0.6959831118583679], "std": [0.03870510309934616, 0.025723712518811226, 0.020342057570815086, 0.06462062895298004, 0.012578560039401054, 0.1157662570476532, 0.0699162632226944, 0.13261324167251587, 0.03275631368160248, 0.020642252638936043, 0.031529493629932404, 0.05425599589943886, 0.05563875660300255, 0.021123843267560005, 0.0047942898236215115, 0.004411368630826473, 0.04208038002252579, 0.03233833611011505, 0.005961212795227766, 0.005203567910939455, 0.009904183447360992, 0.03526017814874649, 7.712419574090745e-06, 0.0008740145131014287, 0.05141323804855347, 0.009931218810379505, 0.03602462261915207, 0.0010938866762444377, 0.0015860827406868339, 0.10702560842037201, 0.17377351224422455, 0.02108980156481266, 0.1958940178155899, 0.31881532073020935, 0.1365637332201004, 0.18503719568252563, 0.1510414481163025, 0.07331927120685577, 0.13000652194023132, 0.07363535463809967, 0.051297370344400406, 0.17678284645080566, 0.029663201421499252, 0.1139162927865982, 0.05225260183215141, 0.2186153084039688, 0.032124195247888565, 0.2500343322753906, 0.06246165186166763, 0.24266277253627777, 0.04316521808505058, 0.27088719606399536, 0.17161825299263, 0.0288320891559124, 0.22350606322288513, 0.04709954932332039, 0.24408578872680664, 0.25182878971099854, 3.765503061003983e-05, 4.246734897606075e-05, 4.506302502704784e-05, 0.00016519926430191845, 3.3666112813079963e-06, 0.019795604050159454, 0.032012417912483215], "count": [2430]}, "observation.state.joint_torque": {"min": [-33.17250061035156, -8.006999969482422, -16.458999633789062, -9.079000473022461, -0.5943999886512756, -0.8271999955177307, 1.2031999826431274, -2.887086868286133, -1.7689298391342163, -0.3168858289718628, -1.557089924812317, -0.9148011207580566, -0.9162882566452026, -0.6044624447822571, -0.11621791869401932, -0.04138316959142685, -0.5833542346954346, -0.45574551820755005, -0.11621791869401932, -0.033534638583660126, -0.19381177425384521, -0.5987057089805603, -0.0016602561809122562, -0.03424813970923424, -0.14865277707576752, -0.1631089448928833, -0.5315431952476501, -0.12949997186660767, -0.033534638583660126, 8.847000122070312, -11.104499816894531, -1.600000023841858, -9.248000144958496, -2.364799976348877, -3.4240000247955322, -3.0776000022888184, -1.2697070837020874, -0.7195430397987366, -1.2315053939819336, -1.166885495185852, -0.09131408482789993, -0.5929489135742188, -0.8875043988227844, -0.15606407821178436, -0.07420431077480316, -1.2290737628936768, -1.0698025226593018, -0.13116022944450378, -0.06635577231645584, -0.2724878489971161, -0.32333946228027344, -0.10459613054990768, -0.05565322935581207, -0.15305078029632568, -0.42504265904426575, -0.4077723026275635, -0.11787818372249603, -0.06278826296329498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.502500534057617, 19.086000442504883, -11.468000411987305, 6.23799991607666, 1.7544000148773193, 2.4935998916625977, 2.5543999671936035, 0.2827230989933014, 0.30309954285621643, 1.0127918720245361, 0.38771915435791016, 0.08965382725000381, 0.4615022540092468, 1.0563700199127197, 0.08633331209421158, 0.021405089646577835, 0.3147042691707611, 0.7570173144340515, 0.10791664570569992, 0.014270060695707798, 0.2868797779083252, 0.33293408155441284, 0.0016602561809122562, 0.009275538846850395, 0.06245175749063492, 0.1822982132434845, 0.521948516368866, 0.07471152395009995, 0.012843053787946701, 37.942501068115234, 10.702500343322754, 19.913000106811523, 3.263000011444092, 0.23680000007152557, 3.3696000576019287, 1.6175999641418457, 2.7368104457855225, 5.008783340454102, 2.4530692100524902, 1.426607608795166, 0.7305126786231995, 2.15207839012146, 0.9249235391616821, 1.0592433214187622, 0.21405088901519775, 0.357880175113678, 0.3147042691707611, 0.1062563955783844, 0.021405089646577835, 0.3454071283340454, 0.24466338753700256, 0.13780125975608826, 0.03068062849342823, 0.12358411401510239, 0.45574554800987244, 0.3981776535511017, 0.14776279032230377, 0.05636673793196678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.17287826538086, 2.1373701095581055, -13.192537307739258, -1.5965368747711182, -0.15587890148162842, -0.25397008657455444, 1.6360102891921997, -0.005122936796396971, -0.004780173767358065, 0.01474612858146429, 0.003701005596667528, 0.0020155415404587984, 0.029943766072392464, 0.026848094537854195, 0.0008390112780034542, 0.00022990624711383134, 0.021055378019809723, 0.0021179276518523693, 0.003333502681925893, 2.642653817019891e-05, 0.020969266071915627, 0.02999851480126381, 6.149095952423522e-06, -0.001996339298784733, -0.005468724761158228, 0.006608427502214909, 0.010724144987761974, 0.0001933542953338474, -0.0021575407590717077, 26.890037536621094, 0.8563101887702942, 12.661969184875488, -2.0164318084716797, -0.5094884037971497, 1.4812666177749634, -0.9451631903648376, 0.40549299120903015, 1.478626012802124, 0.3982762098312378, 0.11260713636875153, 0.1603224128484726, 0.96550452709198, -0.05212455242872238, 0.4490768015384674, 0.10398246347904205, -0.11140566319227219, -0.11907409131526947, 0.0007495058234781027, 0.00031623165705241263, 0.005485930480062962, -0.001003684476017952, -0.0005971445934846997, -0.002011900069192052, -0.0031075661536306143, -0.0010502682998776436, 0.0011055527720600367, -0.014794738031923771, 0.004621872678399086, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6934463977813721, 0.9347929358482361, 0.5839926600456238, 0.6903966665267944, 0.25147783756256104, 0.3467389643192291, 0.18596845865249634, 0.06554248183965683, 0.04402469843626022, 0.059337422251701355, 0.05987988039851189, 0.02117365226149559, 0.06236816942691803, 0.0630612000823021, 0.008020536974072456, 0.004156514070928097, 0.04520146921277046, 0.042332593351602554, 0.015072377398610115, 0.004158280789852142, 0.040259961038827896, 0.05985516309738159, 0.00011153603554703295, 0.005664845462888479, 0.013296118006110191, 0.022089723497629166, 0.05243420600891113, 0.006612271070480347, 0.005788698792457581, 4.237796783447266, 1.936966061592102, 1.9668813943862915, 1.7932804822921753, 0.30900901556015015, 0.7898927330970764, 0.5022804737091064, 0.6529684066772461, 1.699047565460205, 0.5470613241195679, 0.3238953948020935, 0.191916361451149, 0.9734558463096619, 0.23662252724170685, 0.4651084244251251, 0.10123849660158157, 0.2081480175256729, 0.1858670860528946, 0.02271268516778946, 0.007748634088784456, 0.05932873860001564, 0.05630466341972351, 0.023144379258155823, 0.009433265775442123, 0.017078863456845284, 0.1137314960360527, 0.0906778946518898, 0.034698713570833206, 0.006119737401604652, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2430]}, "observation.state.tcp": {"min": [0.36176106333732605, 0.19240325689315796, 0.972554624080658, -1.3247510194778442, 1.2184149026870728, -1.5244320631027222, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24185222387313843, -0.2695443034172058, 0.9517560601234436, -0.7056480050086975, 1.2183458805084229, 0.41377130150794983, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41793128848075867, 0.22741860151290894, 1.0516998767852783, -1.0718430280685425, 1.88685142993927, -1.2281779050827026, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4666622281074524, -0.04555852711200714, 1.1412098407745361, 1.208462119102478, 1.9602913856506348, 1.644016146659851, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40824413299560547, 0.2175247222185135, 0.9969782829284668, -1.2709060907363892, 1.7538666725158691, -1.4853354692459106, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3930824398994446, -0.14486382901668549, 1.0480692386627197, -0.23632365465164185, 1.7236708402633667, 0.7041612267494202, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007212046999484301, 0.004681999795138836, 0.02336866594851017, 0.050370581448078156, 0.11516136676073074, 0.03375624120235443, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05757806822657585, 0.05869076028466225, 0.04650706797838211, 0.30519673228263855, 0.13965770602226257, 0.1759169101715088, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2430]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.22482407093048096, 1.1103373765945435, 4.583159943089987e-20, -0.7699999809265137, 0.1956864446401596, 0.0, 0.0, -0.24374613165855408, 0.0, 0.0, 0.0, -0.13267028331756592, 0.0, 0.0, 0.0, -0.0921865776181221, 0.0, 0.0, 0.0, -0.0931781455874443, 0.0, 0.0, 0.0, 0.0, -0.033821821212768555, 0.0, 0.0, 0.9906827211380005, -1.177363395690918, -0.2426561862230301, 1.042786955833435, -1.7566124200820923, -0.7644801735877991, -0.30688920617103577, 0.0, -0.12063097953796387, -0.1859252005815506, -0.17573387920856476, 0.0, 0.0, -0.1012088805437088, 0.0, 0.0, 0.0, -0.11581285297870636, 0.0, 0.0, 0.0, -0.15791547298431396, 0.0, 0.0, -9.581764714994279e-09, 0.0, -0.1762005239725113, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440662503242493, -0.0010167136788368225, -1.226733365911059e-05, 6.483616124601091e-20, -0.7459720969200134], "max": [1.251147985458374, -0.6291775703430176, 2.0091202955482052e-17, 1.5700000524520874, 0.0944356918334961, 0.08432811498641968, 0.5923483371734619, 1.3282802104949951, 0.29492342472076416, 0.0, 0.2859000861644745, 0.48826780915260315, 0.4260188639163971, 0.10706467926502228, 0.04138271138072014, 0.03912021592259407, 0.21934880316257477, 0.17374427616596222, 0.037406425923109055, 0.030097663402557373, 0.03625990077853203, 0.18883968889713287, 0.009725404903292656, 0.009065675549209118, 0.26180002093315125, 0.04503917694091797, 0.2332804650068283, 0.01201714389026165, 0.01161668449640274, 1.4464011192321777, -0.32421398162841797, -0.0030030650086700916, 1.8536436557769775, 0.1491796374320984, -0.005336997099220753, 0.7297382950782776, 1.352622628211975, 0.28915905952453613, 0.47580841183662415, 0.22970262169837952, 0.2918156087398529, 1.0932167768478394, 0.10773816704750061, 0.5209425091743469, 0.2899276316165924, 1.4562389850616455, 0.2418992966413498, 1.384278416633606, 0.5068668723106384, 1.3844629526138306, 0.23858299851417542, 1.5227913856506348, 0.9366616010665894, 0.26180002093315125, 1.2915359735488892, 0.25156062841415405, 1.4100914001464844, 1.394827961921692, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -1.572023957738211e-20, 1.3905214473197702e-05, 0.11240702867507935, -0.6000000238418579], "mean": [1.17418372631073, -0.6728630661964417, -0.22227579355239868, 1.1738712787628174, 0.09173894673585892, -0.0030000500846654177, 0.27856504917144775, 1.2881088256835938, 0.2904670536518097, -0.10306532680988312, 0.2753485441207886, 0.4718882143497467, 0.3610800802707672, 0.09133262187242508, 0.036187026649713516, 0.03459744527935982, 0.1593886911869049, 0.14912571012973785, 0.02946803718805313, 0.0241097304970026, 0.012082184664905071, 0.15596047043800354, 0.0038062790408730507, 0.003533612936735153, 0.21289673447608948, 0.015387192368507385, 0.21645349264144897, 0.005222943611443043, 0.005122310947626829, 1.2501121759414673, -0.6173260807991028, -0.23298504948616028, 1.3161187171936035, -1.3355416059494019, -0.33196648955345154, -0.007554525043815374, 1.2424211502075195, 0.04414308816194534, 0.09829220175743103, -0.0225997194647789, 0.09295646846294403, 0.8658834099769592, 0.04276661202311516, 0.25103050470352173, 0.13835936784744263, 1.2037746906280518, -0.065501369535923, 1.1891018152236938, 0.27853667736053467, 1.2996233701705933, -0.11529085040092468, 1.307716727256775, 0.655267059803009, 0.03153432905673981, 1.1928519010543823, -0.1342233568429947, 0.8763552308082581, 1.2941994667053223, 0.562698483467102, -1.1068627834320068, 0.5441290736198425, -0.0007299595745280385, -4.668641508942528e-07, 0.08382479101419449, -0.6960362195968628], "std": [0.03870126232504845, 0.025775087997317314, 0.02032378502190113, 0.06465213000774384, 0.012599661014974117, 0.11597245186567307, 0.07029890269041061, 0.14290978014469147, 0.033042795956134796, 0.0210894662886858, 0.03204461559653282, 0.05451170355081558, 0.05523420125246048, 0.02064635045826435, 0.005097484216094017, 0.004799202550202608, 0.04341256618499756, 0.031305428594350815, 0.0068503813818097115, 0.005567020270973444, 0.01087622344493866, 0.03548809513449669, 0.0032179635018110275, 0.002990609034895897, 0.06248680502176285, 0.01091000810265541, 0.035421572625637054, 0.003005299950018525, 0.00292150117456913, 0.10709770768880844, 0.17465448379516602, 0.020983761176466942, 0.19654175639152527, 0.3187061548233032, 0.1366879642009735, 0.1858370304107666, 0.16026997566223145, 0.07509887218475342, 0.1305922567844391, 0.07233811169862747, 0.05332515016198158, 0.1912507712841034, 0.025199787691235542, 0.11919347196817398, 0.07054312527179718, 0.21377155184745789, 0.0335538424551487, 0.2459838092327118, 0.06233309954404831, 0.23641958832740784, 0.04302982985973358, 0.26581650972366333, 0.16978274285793304, 0.03175707161426544, 0.2177201509475708, 0.04700515791773796, 0.2419322431087494, 0.2590411603450775, 1.5058441931614652e-05, 3.6046926652488764e-06, 2.595980913611129e-05, 0.00016332388622686267, 6.288172698987182e-06, 0.019817598164081573, 0.03203296661376953], "count": [2430]}, "observation.state.tcp_pose": {"min": [0.36176106333732605, 0.19240325689315796, 0.972554624080658, -1.3247510194778442, 1.2184149026870728, -1.5244320631027222, 0.24185222387313843, -0.2695443034172058, 0.9517560601234436, -0.7056480050086975, 1.2183458805084229, 0.41377130150794983], "max": [0.41793128848075867, 0.22741860151290894, 1.0516998767852783, -1.0718430280685425, 1.88685142993927, -1.2281779050827026, 0.4666622281074524, -0.04555852711200714, 1.1412098407745361, 1.208462119102478, 1.9602913856506348, 1.644016146659851], "mean": [0.40824413299560547, 0.2175247222185135, 0.9969782829284668, -1.2709060907363892, 1.7538666725158691, -1.4853354692459106, 0.3930824398994446, -0.14486382901668549, 1.0480692386627197, -0.23632365465164185, 1.7236708402633667, 0.7041612267494202], "std": [0.007212046999484301, 0.004681999795138836, 0.02336866594851017, 0.050370581448078156, 0.11516136676073074, 0.03375624120235443, 0.05757806822657585, 0.05869076028466225, 0.04650706797838211, 0.30519673228263855, 0.13965770602226257, 0.1759169101715088], "count": [2430]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.1924280971288681, 0.9725308418273926, -1.3246212005615234, 1.2178406715393066, -1.5244998931884766, 0.24191813170909882, -0.26965516805648804, 0.951755702495575, -0.7056878805160522, 1.2156327962875366, 0.4136730432510376], "max": [0.41795340180397034, 0.22816939651966095, 1.0518072843551636, -1.0713666677474976, 1.8866912126541138, -1.2289543151855469, 0.46654579043388367, -0.04553147777915001, 1.1412519216537476, 1.2080339193344116, 1.9601839780807495, 1.6450954675674438], "mean": [0.4082612097263336, 0.21753954887390137, 0.9969879388809204, -1.2708308696746826, 1.7536494731903076, -1.485381841659546, 0.3930758535861969, -0.1450585424900055, 1.0484704971313477, -0.23654742538928986, 1.7225465774536133, 0.7041279077529907], "std": [0.007192977238446474, 0.004665663465857506, 0.023427806794643402, 0.05059197172522545, 0.11563432961702347, 0.03349270671606064, 0.057626932859420776, 0.0589168518781662, 0.04669816792011261, 0.3048053979873657, 0.14123526215553284, 0.1761239469051361], "count": [2430]}, "subtask_index": {"min": [54], "max": [2533], "mean": [2430.579423868313], "std": [424.41072300172266], "count": [2430]}, "observation.tactile": {"min": [-0.01609879545867443, -3.860340075334534e-05, -8.43727684696205e-05, -0.0012741228565573692, -0.00010617712541716173, -0.00029403818189166486, -0.0035802777856588364, -4.638864265871234e-05, -0.00010600985842756927, -0.0004066424735356122, -2.4751254386501387e-05, -6.576780288014561e-05, -0.016931671649217606, -4.708862616098486e-05, -0.0001041563882608898, -0.0013511321740224957, -5.788720227428712e-05, -0.00036052355426363647, -0.014277618378400803, -3.7282894481904805e-05, -8.058899402385578e-05, -0.0011227574432268739, -3.2608728361083195e-05, -0.00031754575320519507, -0.005532756447792053, -4.6385037421714514e-05, -0.00010525645484449342, -0.000519262277521193, -7.11728644091636e-05, -0.00010094347089761868, -4.944048881530762, -4.06938161177095e-05, -9.406704339198768e-05, -0.21633148193359375, -0.011890113353729248, -0.08297494798898697, -5.871462345123291, -0.45249471068382263, -9.790095646167174e-05, -0.23004917800426483, -0.027653811499476433, -0.09677392244338989, -0.005434377118945122, -4.776892819791101e-05, -0.00010642061533872038, -0.0006860975408926606, -2.4756034690653905e-05, -0.00010930358985206112, -0.016270557418465614, -5.6966957345139235e-05, -0.0001287812483496964, -0.0026894111651927233, -5.4397631174651906e-05, -0.0003587428655009717, -0.15514929592609406, -4.2683845094870776e-05, -9.54832139541395e-05, -0.0012298048241063952, -0.00023466194397769868, -0.002189112128689885], "max": [0.004239427391439676, 0.02495800517499447, 0.07322385162115097, 1.6067244814621517e-06, 0.00023562679416500032, 6.394389401975786e-06, 0.0009582340135239065, 0.0069127376191318035, 0.020230203866958618, 1.820394004425907e-06, 4.6738754463149235e-05, 6.67918811814161e-06, 0.01813785918056965, 0.021883342415094376, 0.064568430185318, 1.936790113177267e-06, 0.00024220303748734295, 0.00023574312217533588, 0.0015071091474965215, 0.01964813843369484, 0.057512834668159485, 1.4928460814189748e-06, 0.00015026985784061253, 5.907543709327001e-06, 0.0038829748518764973, 0.012370322830975056, 0.03499994054436684, 1.963183422049042e-06, 0.00016010583203751594, 3.342160562169738e-05, 5.578588008880615, 13.370339393615723, 12.47403621673584, 1.7413235582353082e-06, 0.04190400615334511, 0.08237870037555695, 0.12124728411436081, 9.59217643737793, 17.072872161865234, 1.856512085396389e-06, 0.009380235336720943, 0.02672550268471241, 0.011665267869830132, 0.015489494428038597, 0.044470321387052536, 1.955812876985874e-06, 0.00022384292969945818, 0.00014218539581634104, 0.15940667688846588, 0.05400531738996506, 0.17095747590065002, 2.3399979909299873e-06, 0.0009375655790790915, 0.0022788941860198975, 0.002171707572415471, 0.023196525871753693, 0.05756908655166626, 1.7690623508315184e-06, 0.00011572370567591861, 1.4350807759910822e-05], "mean": [-0.0004978135693818331, 0.0014678634470328689, 0.004416714888066053, -6.43835446680896e-05, -2.103382712448365e-06, -5.8997557061957195e-06, 0.00016820621385704726, 0.00042108591878786683, 0.0012892106315121055, -2.2713329599355347e-05, 2.299281732121017e-06, 2.1457847196870716e-06, -0.0005973397637717426, 0.0014552348293364048, 0.0043306672014296055, -8.161755977198482e-05, 1.5592364732697206e-08, -1.2076184248144273e-05, -0.00027191959088668227, 0.0007784186163917184, 0.002318392042070627, -4.045590685564093e-05, 2.8482775178417796e-06, -5.315411272022175e-06, 7.675343658775091e-05, 0.0008391484152525663, 0.0024745569098740816, -3.73316252080258e-05, 5.155547114554793e-06, 8.33307979064557e-07, 1.1896837949752808, 2.12483549118042, 4.170799255371094, -0.07475549727678299, 0.00851327832788229, 0.017200244590640068, -1.7859355211257935, 0.807991087436676, 4.9673943519592285, -0.07953152060508728, -0.004200137685984373, -0.028378494083881378, 0.00030512368539348245, 0.0003937017172574997, 0.0011972266947850585, -1.9744982637348585e-05, 2.6721797894424526e-06, 4.716784587799339e-06, -5.848928412888199e-05, 0.0015596086159348488, 0.004661509767174721, -8.800746581982821e-05, 7.764595466142055e-06, -5.045346370025072e-06, -0.0010652139317244291, 0.0037671728059649467, 0.010950282216072083, -0.00023058181977830827, 9.145499461737927e-06, -2.437586590531282e-05], "std": [0.0013356435811147094, 0.0024528102949261665, 0.007301327306777239, 0.00011994872329523787, 1.951882768480573e-05, 2.2951417122385465e-05, 0.0002680511970538646, 0.0008380923536606133, 0.002503762487322092, 4.3805666791740805e-05, 6.725370894855587e-06, 6.320733973552706e-06, 0.0024556699208915234, 0.0031349698547273874, 0.009266736917197704, 0.0001807461812859401, 1.758672260621097e-05, 4.644049477064982e-05, 0.001468793721869588, 0.002223848132416606, 0.0065142386592924595, 0.00011783101945184171, 1.4003468095324934e-05, 2.988989399455022e-05, 0.0005550088244490325, 0.0017896404024213552, 0.005201142281293869, 7.928717241156846e-05, 1.701974542811513e-05, 1.1597663615248166e-05, 1.539912223815918, 2.390509843826294, 4.041218280792236, 0.07226705551147461, 0.011091379448771477, 0.024235716089606285, 1.858527421951294, 1.2739038467407227, 5.017180919647217, 0.0795435979962349, 0.006659651640802622, 0.030385788530111313, 0.0007487967377528548, 0.0013309238711372018, 0.003968232776969671, 6.80282391840592e-05, 1.7947446394828148e-05, 1.0705538443289697e-05, 0.005884671118110418, 0.0032419778872281313, 0.009935510344803333, 0.00018741136591415852, 3.8300888263620436e-05, 8.555665408493951e-05, 0.005549128167331219, 0.004284575581550598, 0.012315847910940647, 0.00026247158530168235, 2.092706927214749e-05, 8.638614235678688e-05], "count": [2430]}, "timestamp": {"min": [0.0], "max": [80.96666666666667], "mean": [40.483333333333334], "std": [23.382683922240563], "count": [2430]}, "frame_index": {"min": [0], "max": [2429], "mean": [1214.5], "std": [701.480517667217], "count": [2430]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [2430]}, "index": {"min": [119845], "max": [122274], "mean": [121059.5], "std": [701.480517667217], "count": [2430]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2430]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5634454488754272]], [[0.5640986561775208]], [[0.5648505091667175]]], "std": [[[0.297606498003006]], [[0.2967783212661743]], [[0.29737067222595215]]], "count": [2430]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3010617196559906]], [[0.3051399290561676]], [[0.30352070927619934]]], "std": [[[0.18134985864162445]], [[0.1820554882287979]], [[0.18266214430332184]]], "count": [2430]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3101111650466919]], [[0.31426548957824707]], [[0.3116288185119629]]], "std": [[[0.1842528134584427]], [[0.18436025083065033]], [[0.18402986228466034]]], "count": [2430]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5654199719429016]], [[0.5657315850257874]], [[0.5659736394882202]]], "std": [[[0.30312657356262207]], [[0.3026048243045807]], [[0.3034871518611908]]], "count": [2430]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6235294342041016]], [[0.6235294342041016]], [[0.6235294342041016]]], "mean": [[[0.00341761764138937]], [[0.00341761764138937]], [[0.00341761764138937]]], "std": [[[0.036489322781562805]], [[0.036489322781562805]], [[0.036489322781562805]]], "count": [2430]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4906691014766693]], [[0.4906691014766693]], [[0.4906691014766693]]], "std": [[[0.22168442606925964]], [[0.22168442606925964]], [[0.22168442606925964]]], "count": [2430]}}}
+{"episode_index": 47, "stats": {"observation.state": {"min": [1.0499999523162842, -0.8934797644615173, -0.22473286092281342, 1.1224031448364258, -0.04643300175666809, -0.7700002193450928, 0.23404352366924286, 0.0069190263748168945, -0.0008452077163383365, -0.2493440955877304, 0.004032218363136053, 0.003496699035167694, 0.0016595504712313414, -0.08223225921392441, 0.0034782616421580315, 0.0008620141306892037, -0.0001577379007358104, -0.10245988517999649, 0.0030109479557722807, 0.0008478245581500232, -0.003156213089823723, -0.026924459263682365, 0.002733679721131921, 0.0008376258774660528, 0.005569023080170155, -0.0006174580194056034, -0.02603764832019806, 0.002401454374194145, 0.0008464942802675068, 0.9713873267173767, -1.1593244075775146, -0.24272513389587402, 1.0164333581924438, -1.8674445152282715, -0.7685667872428894, -0.31675636768341064, 0.0056027937680482864, -0.24501590430736542, -0.20338374376296997, -0.1804126650094986, 0.00325240520760417, 0.005274745635688305, -0.10536070913076401, 0.003561229445040226, 0.0013156357454136014, 0.0053763058967888355, -0.11852774024009705, 0.004647610243409872, 0.0008713259594514966, -0.001762337051331997, -0.1591949462890625, 0.0035378283355385065, 0.0008784207748249173, 0.007429288700222969, -0.0019850824028253555, -0.18093860149383545, 0.0032219127751886845, 0.000872656237334013, 0.5624915957450867, -1.1069588661193848, 0.5439879298210144, -0.000862864195369184, -0.0001917476038215682, -9.58738019107841e-05, -0.7656481862068176], "max": [1.3441431522369385, -0.6624034643173218, -1.1984224101979635e-07, 1.5699998140335083, 0.2588956952095032, 0.1843229979276657, 0.6504698991775513, 1.369106411933899, 0.2921249568462372, 0.00035229118657298386, 0.2625521719455719, 0.4884468913078308, 0.49872180819511414, 0.0946451723575592, 0.04170971363782883, 0.0408596433699131, 0.2719253897666931, 0.18202117085456848, 0.037715207785367966, 0.03156505897641182, 0.10592739284038544, 0.20751690864562988, 0.018653906881809235, 0.017834026366472244, 0.24122227728366852, 0.0948198214173317, 0.25146421790122986, 0.014930643141269684, 0.017727604135870934, 1.5769658088684082, -0.2935579717159271, -0.0005721268826164305, 1.850968837738037, 0.05956818908452988, 0.022566774860024452, 0.6981344223022461, 1.426800012588501, 0.27649781107902527, 0.5350971221923828, 0.2567247748374939, 0.3173181712627411, 1.0527429580688477, 0.11941821128129959, 0.4538886845111847, 0.19275593757629395, 1.3312172889709473, 0.21607987582683563, 1.350604772567749, 0.45150694251060486, 1.3932143449783325, 0.2312898188829422, 1.4892264604568481, 0.7186812162399292, 0.10165634006261826, 1.2899792194366455, 0.22346553206443787, 1.3976879119873047, 1.308206558227539, 0.5628750920295715, -1.1066712141036987, 0.5443714261054993, 9.58738019107841e-05, 0.00028762139845639467, 0.1161031723022461, -0.5998823642730713], "mean": [1.1746838092803955, -0.7292681336402893, -0.22241340577602386, 1.228488802909851, 0.11195448786020279, 0.040662217885255814, 0.31450971961021423, 1.3503456115722656, 0.28444039821624756, -0.14996285736560822, 0.20860616862773895, 0.45831242203712463, 0.47471773624420166, 0.08949244022369385, 0.03712708130478859, 0.03942074626684189, 0.22722512483596802, 0.15191103518009186, 0.03667778894305229, 0.030016204342246056, 0.07009632140398026, 0.17092512547969818, 0.010984743013978004, 0.011459048837423325, 0.1315230131149292, 0.06945803761482239, 0.2205670028924942, 0.011904304847121239, 0.01272707898169756, 1.314909815788269, -0.5982437133789062, -0.23524418473243713, 1.3352957963943481, -1.4585028886795044, -0.2296716719865799, -0.1281244456768036, 1.2437678575515747, -0.01564505137503147, 0.2167118936777115, -0.01030026189982891, 0.08889665454626083, 0.8853769898414612, 0.04662350192666054, 0.20731313526630402, 0.09808424115180969, 1.2307425737380981, -0.07203155755996704, 1.1243020296096802, 0.2522827088832855, 1.3053327798843384, -0.12308405339717865, 1.2660568952560425, 0.4531259536743164, 0.0185209009796381, 1.2007144689559937, -0.14225898683071136, 0.8166357278823853, 1.2511305809020996, 0.5627002120018005, -1.1068626642227173, 0.5440763831138611, -0.0004852638812735677, 1.4841144491128944e-07, 0.061574600636959076, -0.7223411798477173], "std": [0.06312339007854462, 0.044705212116241455, 0.018954725936055183, 0.07708920538425446, 0.02134011499583721, 0.13603278994560242, 0.06760764867067337, 0.12400976568460464, 0.02916550263762474, 0.03291042894124985, 0.0241496991366148, 0.04931625351309776, 0.05919952690601349, 0.016891932114958763, 0.004022553097456694, 0.0046222517266869545, 0.03824067488312721, 0.030563391745090485, 0.0053552589379251, 0.004594872705638409, 0.023606350645422935, 0.038167938590049744, 0.0034091181587427855, 0.0037689858581870794, 0.07558441162109375, 0.022602248936891556, 0.03322640806436539, 0.003351138439029455, 0.003754368983209133, 0.12203150242567062, 0.18333184719085693, 0.020944863557815552, 0.19334405660629272, 0.31553220748901367, 0.15310850739479065, 0.1490604728460312, 0.1390007585287094, 0.07173311710357666, 0.17516985535621643, 0.09030433744192123, 0.05758088827133179, 0.17702338099479675, 0.031734611839056015, 0.10513629764318466, 0.042349912226200104, 0.20885351300239563, 0.0369153656065464, 0.2356075495481491, 0.0798046812415123, 0.241732656955719, 0.05128161981701851, 0.261629194021225, 0.12086014449596405, 0.008395244367420673, 0.22761128842830658, 0.05372656509280205, 0.26203441619873047, 0.2518528699874878, 2.7105354092782363e-05, 3.896698399330489e-05, 3.6619141610572115e-05, 0.00014681338507216424, 1.066838376573287e-05, 0.021375199779868126, 0.023882947862148285], "count": [2584]}, "observation.state.joint_torque": {"min": [-39.33000183105469, -4.910999774932861, -20.545000076293945, -6.007999897003174, -0.5672000050544739, -1.0240000486373901, 1.1344000101089478, -0.7259106636047363, -0.8481693267822266, -0.32558465003967285, -0.33801156282424927, -0.12617947161197662, -0.7493415474891663, -0.5449756979942322, -0.09297433495521545, -0.038529157638549805, -0.26864999532699585, -0.4231237471103668, -0.10791664570569992, -0.032821137458086014, -0.31086641550064087, -0.6994494199752808, -0.05478844791650772, -0.03496164828538895, -0.10071445256471634, -0.1966901570558548, -0.7052062153816223, -0.021583328023552895, -0.03424813970923424, 10.519499778747559, -8.25, -0.6039999723434448, -8.895000457763672, -2.240000009536743, -3.6975998878479004, -3.635999917984009, -1.6988856792449951, -0.9857103228569031, -0.5915202498435974, -0.9121342301368713, -0.2722820043563843, -1.3077497482299805, -0.9076532125473022, -0.16270509362220764, -0.06778278201818466, -1.4008177518844604, -1.3854663372039795, -0.7437946796417236, -0.18979178369045258, -1.2213979959487915, -0.5094755291938782, -0.4947563111782074, -0.06706927716732025, -0.11918610334396362, -1.1954925060272217, -0.5699217915534973, -0.11787818372249603, -0.13770607113838196, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.17099952697754, 21.638999938964844, -10.565999984741211, 8.204000473022461, 1.5032000541687012, 1.764799952507019, 2.9607999324798584, 0.9054780602455139, 0.20631143450737, 0.42624250054359436, 0.3467104136943817, 0.08301279693841934, 0.3952992558479309, 0.3482855260372162, 0.12783971428871155, 0.014983562752604485, 0.3358124792575836, 0.37323158979415894, 0.13946151733398438, 0.01855107769370079, 0.28496089577674866, 0.3905019462108612, 0.11787818372249603, 0.016410568729043007, 0.05805373936891556, 0.1918928325176239, 0.3741910457611084, 0.06973075866699219, 0.013556556776165962, 47.180999755859375, 13.34850025177002, 26.10700035095215, 3.1710000038146973, 0.3352000117301941, 3.87280011177063, 0.9223999977111816, 2.5712521076202393, 4.964210033416748, 2.2629377841949463, 1.3557742834091187, 0.667422890663147, 2.155916213989258, 1.0314240455627441, 1.0575830936431885, 0.21405088901519775, 0.4547860324382782, 0.32142049074172974, 0.15274357795715332, 0.07277730107307434, 0.3319746255874634, 0.2485012710094452, 0.11123716086149216, 0.03781566023826599, 0.1319403201341629, 0.4480697810649872, 0.37515050172805786, 0.13448072969913483, 0.05422622710466385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.07094955444336, 2.4449033737182617, -13.542025566101074, -1.6871424913406372, -0.10193999111652374, -0.43720459938049316, 1.6194648742675781, -0.0023725840728729963, -0.002206989796832204, 0.018402347341179848, -0.0013643585843965411, 0.003018540795892477, 0.0028854648116976023, 0.003430528799071908, 0.0002178117720177397, 3.865711914841086e-05, 0.01056225411593914, 0.003232626710087061, 0.000893095217179507, 1.932881241373252e-05, 0.030105508863925934, 0.031351566314697266, 0.001698805601336062, 0.00016595039051026106, -0.005206627771258354, 0.013736222870647907, 0.006156314630061388, 0.001211782218888402, 0.00021510012447834015, 27.70798683166504, 0.3719799816608429, 13.099265098571777, -1.569576621055603, -0.6352006793022156, 1.450921893119812, -0.6736916899681091, 0.3671366572380066, 1.6393134593963623, 0.4385398328304291, 0.14405299723148346, 0.1531938910484314, 1.165435552597046, 0.016684770584106445, 0.466296911239624, 0.10397738218307495, -0.15951859951019287, -0.20168250799179077, -0.02290625125169754, -0.006196757312864065, -0.005896397400647402, -0.021584229543805122, -0.0007427425007335842, -0.0021512743551284075, -0.00021836854284629226, -0.014692374505102634, -0.0010222280398011208, -0.015606648288667202, 0.0032888934947550297, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.9900291562080383, 0.9318637251853943, 0.7664937376976013, 0.6639105677604675, 0.27623021602630615, 0.34775421023368835, 0.1799851357936859, 0.03944678604602814, 0.02606208436191082, 0.05000333860516548, 0.04364560917019844, 0.011458465829491615, 0.05269283801317215, 0.04409278929233551, 0.006868289317935705, 0.003601923817768693, 0.04326353222131729, 0.0396023727953434, 0.012741895392537117, 0.003180756699293852, 0.0471845306456089, 0.06254643201828003, 0.009851034730672836, 0.0034178446512669325, 0.013239404186606407, 0.026782767847180367, 0.05488855764269829, 0.0057328068651258945, 0.0036642260383814573, 4.142571926116943, 1.9051258563995361, 1.786495566368103, 1.811373233795166, 0.2913026511669159, 0.7046798467636108, 0.48978036642074585, 0.6783115267753601, 1.6734572649002075, 0.5549306869506836, 0.3256092965602875, 0.1720970720052719, 1.0233956575393677, 0.16480258107185364, 0.43740183115005493, 0.09268584102392197, 0.2671058773994446, 0.2607494294643402, 0.08106861263513565, 0.02077881619334221, 0.0870574489235878, 0.08323738723993301, 0.032576724886894226, 0.009207176975905895, 0.014099272899329662, 0.1273985505104065, 0.08924880623817444, 0.036551449447870255, 0.006493710447102785, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2584]}, "observation.state.tcp": {"min": [0.3617660105228424, 0.19242824614048004, 0.9437697529792786, -1.3862420320510864, 1.2178406715393066, -1.6960512399673462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23448917269706726, -0.2566656470298767, 0.9682827591896057, -0.7841138243675232, 1.2181119918823242, 0.22692011296749115, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4115999937057495, 0.24749864637851715, 1.1038062572479248, -0.9828439950942993, 1.9137235879898071, -1.2289537191390991, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47362470626831055, -0.040915485471487045, 1.2191226482391357, 1.2080765962600708, 1.9832547903060913, 1.3978537321090698, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3974776268005371, 0.2289905846118927, 1.0023690462112427, -1.28238844871521, 1.7251712083816528, -1.5600825548171997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40248820185661316, -0.13216738402843475, 1.0730412006378174, -0.3548077642917633, 1.7489365339279175, 0.5503950119018555, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01003606989979744, 0.009324819780886173, 0.035397037863731384, 0.06297286599874496, 0.1370275467634201, 0.045302264392375946, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.055663563311100006, 0.05310646817088127, 0.050635434687137604, 0.30982428789138794, 0.1417265236377716, 0.19853730499744415, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2584]}, "action": {"min": [1.051023006439209, -0.9022520780563354, -0.22472819685935974, 1.1223903894424438, -0.0471060536801815, -0.76823890209198, 0.23406243324279785, 0.0, 0.0, -0.24948392808437347, 0.0, 0.0, 0.0, -0.07897773385047913, 0.0, 0.0, 0.0, -0.11178254336118698, 0.0, 0.0, 0.0, -0.13956864178180695, 0.0, 0.0, 0.0, 0.0, -0.12519606947898865, 0.0, 0.0, 0.9713965654373169, -1.1593587398529053, -0.24273373186588287, 1.0164297819137573, -1.8674296140670776, -0.7699524760246277, -0.316975861787796, 0.0, -0.25208011269569397, -0.20774662494659424, -0.1825919896364212, 0.0, 0.0, -0.1046665757894516, 0.0, 0.0, 0.0, -0.12369894981384277, 0.0, 0.0, 0.0, -0.16510815918445587, 0.0, 0.0, -9.694374192292798e-09, 0.0, -0.18591298162937164, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440601706504822, -0.000936029595322907, -1.1637623174465261e-05, -4.651124618249014e-05, -0.7657157778739929], "max": [1.3443069458007812, -0.6624058485031128, -0.0009417328983545303, 1.5695170164108276, 0.25973138213157654, 0.18443401157855988, 0.6512622833251953, 1.3754462003707886, 0.29358547925949097, 0.0, 0.2675767242908478, 0.4927952289581299, 0.503836989402771, 0.09560806304216385, 0.048524290323257446, 0.044380005449056625, 0.2741885781288147, 0.18213163316249847, 0.04664403572678566, 0.03587077185511589, 0.11113806068897247, 0.21251168847084045, 0.022339990362524986, 0.020039930939674377, 0.26180002093315125, 0.0957365483045578, 0.2535001039505005, 0.020304696634411812, 0.01972940005362034, 1.5769532918930054, -0.2935510277748108, -3.219510108465329e-05, 1.8511816263198853, 0.059534937143325806, 0.022618455812335014, 0.7776293158531189, 1.4307504892349243, 0.2860087752342224, 0.5349394679069519, 0.26180633902549744, 0.3217916190624237, 1.1259942054748535, 0.13544145226478577, 0.500326931476593, 0.2083706259727478, 1.4619688987731934, 0.25743260979652405, 1.3549528121948242, 0.4550284445285797, 1.4438174962997437, 0.2717224061489105, 1.4928309917449951, 0.7195428609848022, 0.13597115874290466, 1.2935991287231445, 0.26023510098457336, 1.4022071361541748, 1.3984129428863525, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -1.9081303819558075e-20, 1.201258237415459e-05, 0.11703278124332428, -0.6000000238418579], "mean": [1.1748243570327759, -0.7293819189071655, -0.22241130471229553, 1.2286362648010254, 0.11193455755710602, 0.04046785086393356, 0.31460538506507874, 1.3532618284225464, 0.2881874442100525, -0.14636020362377167, 0.20943841338157654, 0.4650435447692871, 0.47536417841911316, 0.08966455608606339, 0.0449858084321022, 0.042500417679548264, 0.23120969533920288, 0.1563822329044342, 0.04122602194547653, 0.032528311014175415, 0.07125796377658844, 0.1767296940088272, 0.01677108369767666, 0.015014096163213253, 0.12715847790241241, 0.07178064435720444, 0.2219167947769165, 0.01683616265654564, 0.016422759741544724, 1.3158531188964844, -0.5990634560585022, -0.23524782061576843, 1.3360170125961304, -1.4573607444763184, -0.23072567582130432, -0.12762857973575592, 1.2468551397323608, -0.009766146540641785, 0.21707051992416382, -0.010066630318760872, 0.08950044214725494, 0.9221221804618835, 0.03880103677511215, 0.21195192635059357, 0.10978619754314423, 1.2315424680709839, -0.07208538055419922, 1.123719334602356, 0.25233665108680725, 1.3062471151351929, -0.1232464462518692, 1.2661434412002563, 0.45331278443336487, 0.018869871273636818, 1.2009689807891846, -0.1424982100725174, 0.816034734249115, 1.2961959838867188, 0.5627012252807617, -1.1068669557571411, 0.5441490411758423, -0.0005303550278767943, 2.5603981157473754e-07, 0.061627525836229324, -0.7223862409591675], "std": [0.06327013671398163, 0.04502754285931587, 0.018986914306879044, 0.07747889310121536, 0.02125788852572441, 0.13633425533771515, 0.06779112666845322, 0.1328076422214508, 0.029148602858185768, 0.033034756779670715, 0.024408012628555298, 0.04834246262907982, 0.0567556656897068, 0.016715463250875473, 0.0051482548005878925, 0.0047873384319245815, 0.0387348048388958, 0.03092636913061142, 0.006102484185248613, 0.004828427918255329, 0.024861546233296394, 0.040296487510204315, 0.004355943761765957, 0.003910344559699297, 0.08640995621681213, 0.0236519705504179, 0.03451978415250778, 0.004242923576384783, 0.004080018028616905, 0.12191183120012283, 0.18405801057815552, 0.020992372184991837, 0.1938476711511612, 0.3180355429649353, 0.15372131764888763, 0.15090195834636688, 0.14690563082695007, 0.07417578995227814, 0.1757356971502304, 0.08963863551616669, 0.05914885550737381, 0.19787625968456268, 0.028344355523586273, 0.10731916129589081, 0.049317218363285065, 0.20306023955345154, 0.03793361037969589, 0.23232761025428772, 0.0795496329665184, 0.23525047302246094, 0.05146706849336624, 0.25728267431259155, 0.1199067011475563, 0.012953934259712696, 0.2218724489212036, 0.053941816091537476, 0.260335236787796, 0.26068115234375, 1.781546052370686e-05, 4.653238192986464e-06, 2.0614961613318883e-05, 0.0001495660690125078, 4.827732027479215e-06, 0.02138775959610939, 0.023960698395967484], "count": [2584]}, "observation.state.tcp_pose": {"min": [0.3617660105228424, 0.19242824614048004, 0.9437697529792786, -1.3862420320510864, 1.2178406715393066, -1.6960512399673462, 0.23448917269706726, -0.2566656470298767, 0.9682827591896057, -0.7841138243675232, 1.2181119918823242, 0.22692011296749115], "max": [0.4115999937057495, 0.24749864637851715, 1.1038062572479248, -0.9828439950942993, 1.9137235879898071, -1.2289537191390991, 0.47362470626831055, -0.040915485471487045, 1.2191226482391357, 1.2080765962600708, 1.9832547903060913, 1.3978537321090698], "mean": [0.3974776268005371, 0.2289905846118927, 1.0023690462112427, -1.28238844871521, 1.7251712083816528, -1.5600825548171997, 0.40248820185661316, -0.13216738402843475, 1.0730412006378174, -0.3548077642917633, 1.7489365339279175, 0.5503950119018555], "std": [0.01003606989979744, 0.009324819780886173, 0.035397037863731384, 0.06297286599874496, 0.1370275467634201, 0.045302264392375946, 0.055663563311100006, 0.05310646817088127, 0.050635434687137604, 0.30982428789138794, 0.1417265236377716, 0.19853730499744415], "count": [2584]}, "action.tcp_pose": {"min": [0.3619300425052643, 0.19255881011486053, 0.9437474608421326, -1.3862762451171875, 1.2186381816864014, -1.7023893594741821, 0.234548881649971, -0.2566434442996979, 0.9682357907295227, -0.784126341342926, 1.2178499698638916, 0.2269945740699768], "max": [0.4115903079509735, 0.25026917457580566, 1.103827714920044, -0.9815306067466736, 1.9137545824050903, -1.2298129796981812, 0.4735923409461975, -0.04092463105916977, 1.2204253673553467, 1.2088203430175781, 1.9826607704162598, 1.4263938665390015], "mean": [0.39749595522880554, 0.2290167510509491, 1.0024120807647705, -1.2823138236999512, 1.7249287366867065, -1.5600711107254028, 0.40256550908088684, -0.13240917026996613, 1.0735775232315063, -0.35359621047973633, 1.7469100952148438, 0.5509239435195923], "std": [0.010022258386015892, 0.009389600716531277, 0.03553125262260437, 0.06303681433200836, 0.1374533325433731, 0.045094266533851624, 0.05565464496612549, 0.05338308587670326, 0.05075738579034805, 0.3111099302768707, 0.14411760866641998, 0.19989386200904846], "count": [2584]}, "subtask_index": {"min": [54], "max": [2586], "mean": [2499.1760835913315], "std": [390.03412909429596], "count": [2584]}, "observation.tactile": {"min": [-0.011069215834140778, -4.108551365789026e-05, -9.030902583617717e-05, -0.0015977565199136734, -6.670068250969052e-05, -0.00019390862144064158, -0.004292667843401432, -4.815902138943784e-05, -0.00011006944987457246, -0.0004871911951340735, -4.090621951036155e-05, -8.587011689087376e-05, -0.010544199496507645, -4.934885510010645e-05, -0.00010983696847688407, -0.0014595561660826206, -3.981084591941908e-05, -0.0002391252783127129, -0.011195814236998558, -3.439241845626384e-05, -7.55258442950435e-05, -0.0009463945752941072, -1.812182745197788e-05, -0.00024142011534422636, -0.013371285982429981, -4.533094761427492e-05, -0.00010369355732109398, -0.000996622140519321, -3.512458351906389e-05, -0.0002805054828058928, -2.0159730911254883, -0.31074804067611694, -8.795538451522589e-05, -0.19428764283657074, -0.00218414724804461, -0.06214306131005287, -10.512909889221191, -1.0952041149139404, -8.997495024232194e-05, -0.35627612471580505, -0.051263708621263504, -0.14282196760177612, -0.9826902151107788, -0.049410756677389145, -0.00010490447311894968, -0.0045890300534665585, -0.0030490695498883724, -0.016353700309991837, -0.006663130130618811, -5.947308090981096e-05, -0.00013548150309361517, -0.0008471945766359568, -7.210795592982322e-05, -0.00015839794650673866, -0.42155858874320984, -4.394953793962486e-05, -9.842555300565436e-05, -0.0009789480827748775, -3.173512595822103e-05, -0.005590781103819609], "max": [0.008928732946515083, 0.029626578092575073, 0.08838863670825958, 1.7163160919153597e-06, 0.00028997258050367236, 6.373119686031714e-05, 0.0003516960423439741, 0.009625451639294624, 0.027858320623636246, 1.8883891925725038e-06, 6.667778507107869e-05, 6.918839062564075e-06, 0.014786319807171822, 0.02555263228714466, 0.07534250617027283, 2.067187097054557e-06, 0.0003215262258891016, 0.0001932965824380517, 0.014935789629817009, 0.016963334754109383, 0.05143238976597786, 1.3980424000692437e-06, 0.00029752610134892166, 0.00019159341172780842, 0.007877000607550144, 0.016635287553071976, 0.05010879412293434, 1.9474318833090365e-06, 0.00019657390657812357, 9.342985867988318e-05, 6.771881580352783, 11.28678035736084, 12.529428482055664, 1.6297743741233717e-06, 0.03917505592107773, 0.13213402032852173, 1.7672196626663208, 16.67524528503418, 21.76361083984375, 1.7038225905707804e-06, 0.036695435643196106, 0.01708991266787052, 0.008791390806436539, 0.13505154848098755, 0.3014759421348572, 1.9308226910652593e-06, 0.0004385103238746524, 0.0001029964187182486, 0.0011750028934329748, 0.013004655949771404, 0.037993863224983215, 2.4555354229960358e-06, 0.0001349730882793665, 9.524147571937647e-06, 0.004868621472269297, 0.025558888912200928, 0.04628557339310646, 1.8241287307318999e-06, 0.0007918686605989933, 6.634903547819704e-05], "mean": [-0.0008962397114373744, 0.0037783938460052013, 0.011219460517168045, -0.00017997225222643465, 1.4728965652466286e-05, -1.594687273609452e-05, 0.0001810162648325786, 0.00021966609347146004, 0.0006812164792791009, -1.2162122402514797e-05, -5.551205504161771e-07, 3.4323663840041263e-06, -0.000691831752192229, 0.0019323620945215225, 0.005725802853703499, -0.00010211891640210524, -3.4847903407353442e-06, -1.0497559742361773e-05, 3.725778515217826e-05, 0.0009985893266275525, 0.0029673688113689423, -4.968991197529249e-05, 9.998821042245254e-06, -1.5868491800574702e-06, -7.67152669141069e-05, 0.000681453850120306, 0.002027271781116724, -3.5062708775512874e-05, 2.442362529109232e-06, -1.8659515035324148e-06, 2.1158227920532227, 2.2092740535736084, 4.229462146759033, -0.0770612508058548, 0.010832419618964195, 0.03372446075081825, -2.2448489665985107, 1.2047340869903564, 8.49441909790039, -0.11951125413179398, -0.0013954265741631389, -0.03205198794603348, -0.014963033609092236, 0.004526486154645681, 0.011823509819805622, -0.00019205400894861668, -9.245561159332283e-06, -0.00020868898718617857, 7.243934669531882e-05, 0.0008362323278561234, 0.0025615247432142496, -5.0038866902468726e-05, 1.7469933482061606e-06, 1.929391828525695e-07, -8.873807382769883e-05, 0.0014652315294370055, 0.004279059357941151, -8.667005749884993e-05, 1.0924773050646763e-05, -3.926003500964725e-06], "std": [0.0016677459934726357, 0.0046175275929272175, 0.013483461923897266, 0.00024451129138469696, 4.0829196223057806e-05, 2.7255095119471662e-05, 0.00036344185355119407, 0.0007354281842708588, 0.002177450805902481, 3.9018705138005316e-05, 3.912210559064988e-06, 7.3060314207396004e-06, 0.001372701139189303, 0.0026022004894912243, 0.007631329353898764, 0.00014079699758440256, 1.4396337064681575e-05, 2.3662441890337504e-05, 0.0012797134695574641, 0.0022350619547069073, 0.006647416390478611, 0.00011708275269484147, 3.1699833925813437e-05, 2.0448547729756683e-05, 0.0014213193207979202, 0.0017998330295085907, 0.005297151859849691, 9.913782560033724e-05, 1.3253114047984127e-05, 2.8987742552999407e-05, 2.128087282180786, 2.1062734127044678, 3.586658477783203, 0.06593035906553268, 0.010995389893651009, 0.03669330105185509, 2.516303777694702, 1.8756510019302368, 7.379934787750244, 0.10489638894796371, 0.013697164133191109, 0.03630095347762108, 0.07126996666193008, 0.013544037938117981, 0.03133351728320122, 0.0004504529933910817, 0.00013656866212841123, 0.0010340966982766986, 0.0007992759929038584, 0.0017843458335846663, 0.0053600138053298, 0.00011122830619569868, 1.3444167962006759e-05, 1.7468115402152762e-05, 0.009212971664965153, 0.002862468594685197, 0.00816296972334385, 0.0001669189368840307, 2.913568096118979e-05, 0.00012463217717595398], "count": [2584]}, "timestamp": {"min": [0.0], "max": [86.1], "mean": [43.050000000000004], "std": [24.864549731160093], "count": [2584]}, "frame_index": {"min": [0], "max": [2583], "mean": [1291.5], "std": [745.9364919348027], "count": [2584]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2584]}, "index": {"min": [122275], "max": [124858], "mean": [123566.5], "std": [745.9364919348027], "count": [2584]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2584]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5714027285575867]], [[0.5718621611595154]], [[0.5722330808639526]]], "std": [[[0.3014196455478668]], [[0.3007933795452118]], [[0.3013981580734253]]], "count": [2584]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30169764161109924]], [[0.3054436445236206]], [[0.30377376079559326]]], "std": [[[0.18146607279777527]], [[0.1824491322040558]], [[0.1828017681837082]]], "count": [2584]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3096601366996765]], [[0.3131176829338074]], [[0.3102606236934662]]], "std": [[[0.1821928322315216]], [[0.18257838487625122]], [[0.1816292703151703]]], "count": [2584]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5711714029312134]], [[0.571338951587677]], [[0.5712838172912598]]], "std": [[[0.304945170879364]], [[0.3046244978904724]], [[0.30548807978630066]]], "count": [2584]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6235294342041016]], [[0.6235294342041016]], [[0.6235294342041016]]], "mean": [[[0.004180261865258217]], [[0.004180261865258217]], [[0.004180261865258217]]], "std": [[[0.04004465043544769]], [[0.04004465043544769]], [[0.04004465043544769]]], "count": [2584]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4906533658504486]], [[0.4906533658504486]], [[0.4906533658504486]]], "std": [[[0.22163040935993195]], [[0.22163040935993195]], [[0.22163040935993195]]], "count": [2584]}}}
+{"episode_index": 48, "stats": {"observation.state": {"min": [1.051291584968567, -0.7789561152458191, -0.22482825815677643, 1.1350593566894531, 0.0012488760985434055, -0.7671964168548584, 0.23964937031269073, 0.0068886722438037395, -0.00018844632722903043, -0.22183603048324585, 0.005504644010215998, 0.0034779072739183903, 0.0036971301306039095, -0.0358455553650856, 0.0034495422150939703, 0.0008535890956409276, -0.003379202913492918, -0.005920167546719313, 0.0030265487730503082, 0.0008500416879542172, -0.0033792031463235617, -0.01840248890221119, 0.0027943099848926067, 0.000850485113915056, 0.005399907939136028, -0.0030114816036075354, -0.0026744152419269085, 0.005838941317051649, 0.0008531456696800888, 1.0326918363571167, -1.406319499015808, -0.24283792078495026, 1.0369569063186646, -1.9789373874664307, -0.8735136389732361, -0.323299765586853, 0.00559430243447423, -0.17944511771202087, -0.19986899197101593, -0.16959276795387268, 0.003251696238294244, 0.005309334956109524, -0.1587965339422226, 0.0035771846305578947, 0.0008597970008850098, 0.003539393190294504, -0.11094461381435394, 0.006413687951862812, 0.0008735430892556906, -0.001661022542975843, -0.1496831327676773, 0.003866153536364436, 0.0008633443503640592, 0.00585159519687295, -0.002038805978372693, -0.17124547064304352, 0.0032102123368531466, 0.0008744299411773682, 0.5624915957450867, -1.1069588661193848, 0.5439879298210144, -0.0009587379754520953, -9.58738019107841e-05, -0.05215534567832947, -0.7789745926856995], "max": [1.2703888416290283, -0.6395503878593445, -0.0025096165481954813, 1.5673655271530151, 0.16557753086090088, 0.05781465396285057, 0.5810919404029846, 1.3788071870803833, 0.29852303862571716, 0.0018249059794470668, 0.28839975595474243, 0.5342535376548767, 0.4887372553348541, 0.09484043717384338, 0.037828315049409866, 0.04085077717900276, 0.2541278302669525, 0.18911467492580414, 0.03770811855792999, 0.03158057853579521, 0.03093019127845764, 0.17720933258533478, 0.002851394470781088, 0.0037651038728654385, 0.2408701479434967, 0.008227592334151268, 0.23086149990558624, 0.005883616395294666, 0.0017399913631379604, 1.5043585300445557, -0.3335924744606018, -0.002186401979997754, 1.8536443710327148, 0.15213996171951294, 0.024561908096075058, 0.6981424689292908, 1.3926011323928833, 0.27954402565956116, 0.5002975463867188, 0.29292669892311096, 0.4040013551712036, 1.1724594831466675, 0.10096201300621033, 0.4262920022010803, 0.20576506853103638, 1.4636285305023193, 0.1947402060031891, 1.366031527519226, 0.5586401224136353, 1.460707187652588, 0.19920198619365692, 1.5046656131744385, 0.9649174809455872, 0.15645603835582733, 1.2949258089065552, 0.20023009181022644, 1.3742201328277588, 1.3081897497177124, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.08331432938575745, -0.6004576086997986], "mean": [1.1743963956832886, -0.6897990107536316, -0.22289632260799408, 1.205043077468872, 0.10889758914709091, -0.072056345641613, 0.34255746006965637, 1.338012933731079, 0.2898745834827423, -0.14175276458263397, 0.27234870195388794, 0.5161627531051636, 0.3991212248802185, 0.08516044169664383, 0.03408792242407799, 0.035184308886528015, 0.15272846817970276, 0.15056389570236206, 0.024959836155176163, 0.019405007362365723, 0.009256534278392792, 0.1375366449356079, 0.002821577712893486, 0.0021824510768055916, 0.23841872811317444, 0.002440751064568758, 0.2099275290966034, 0.005863100755959749, 0.0015341629041358829, 1.2678500413894653, -0.6476819515228271, -0.23239128291606903, 1.3215465545654297, -1.3721939325332642, -0.3179035186767578, -0.06576355546712875, 1.2591793537139893, -0.016052914783358574, 0.163901224732399, 0.013700388371944427, 0.10030090808868408, 0.911861777305603, 0.04297899454832077, 0.19504186511039734, 0.1174062192440033, 1.2032859325408936, -0.06238771229982376, 1.1748427152633667, 0.31065306067466736, 1.2928309440612793, -0.11119493842124939, 1.3430312871932983, 0.5967979431152344, 0.023855626583099365, 1.169529914855957, -0.12948350608348846, 0.8299067616462708, 1.2312723398208618, 0.5626975297927856, -1.1068627834320068, 0.5441027879714966, -0.0005627153441309929, -1.3575051127645565e-07, 0.03847101703286171, -0.7252992987632751], "std": [0.048608846962451935, 0.03214045241475105, 0.017454843968153, 0.06315262615680695, 0.049664996564388275, 0.11737047880887985, 0.06865854561328888, 0.11103735119104385, 0.025883672758936882, 0.018550818786025047, 0.02684003859758377, 0.04823032766580582, 0.07703904807567596, 0.0156005984172225, 0.004865341819822788, 0.005582632031291723, 0.0932774469256401, 0.0415627621114254, 0.014454898424446583, 0.011237128637731075, 0.011987563222646713, 0.03961173817515373, 9.117149602388963e-06, 0.0008082204731181264, 0.020692981779575348, 0.002977843163534999, 0.032999590039253235, 6.717472842865391e-06, 0.000231459503993392, 0.12051655352115631, 0.20735019445419312, 0.019993523135781288, 0.1908985823392868, 0.34540271759033203, 0.17151756584644318, 0.1742754578590393, 0.14211946725845337, 0.0928574800491333, 0.15647874772548676, 0.0912824496626854, 0.06517967581748962, 0.18091142177581787, 0.041211966425180435, 0.09891997277736664, 0.04824080690741539, 0.20556730031967163, 0.03588704392313957, 0.26068565249443054, 0.07530771940946579, 0.23182399570941925, 0.04728991538286209, 0.2912030518054962, 0.1580265909433365, 0.019376972690224648, 0.21323293447494507, 0.05094730854034424, 0.26453545689582825, 0.2626320421695709, 4.004565562354401e-05, 4.8518915718887e-05, 5.15102110512089e-05, 0.00017637689597904682, 4.416252977534896e-06, 0.03426933288574219, 0.03534390777349472], "count": [2825]}, "observation.state.joint_torque": {"min": [-31.773000717163086, -3.114000082015991, -16.964000701904297, -6.310999870300293, -0.42640000581741333, -0.8903999924659729, 1.2319999933242798, -0.691525399684906, -0.31583482027053833, -0.4386694133281708, -0.5144734978675842, -0.0979551151394844, -0.41832640767097473, -0.4643807113170624, -0.09463459998369217, -0.039242662489414215, -0.22451463341712952, -0.42216426134109497, -0.12285894900560379, -0.033534638583660126, -0.260974258184433, -0.4835699498653412, -0.0016602561809122562, -0.03496164828538895, -0.11654729396104813, -0.13912232220172882, -0.4547860324382782, -0.0016602561809122562, -0.028540121391415596, 5.983500003814697, -7.102499961853027, -3.2899999618530273, -7.855999946594238, -2.1375999450683594, -5.127999782562256, -3.4128000736236572, -1.5460624694824219, -1.2556980848312378, -0.946929395198822, -0.6151314377784729, -0.09961536526679993, -0.435596764087677, -0.8836665749549866, -0.13116022944450378, -0.07135029137134552, -1.1561543941497803, -1.0381402969360352, -0.41838452219963074, -0.05493973195552826, -1.161911129951477, -0.31086641550064087, -0.49807682633399963, -0.06706927716732025, -0.13325972855091095, -1.460304617881775, -0.4048939049243927, -0.3735576272010803, -0.1284305304288864, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.7810001373291, 7.386000156402588, -11.211999893188477, 1.8730000257492065, 1.6407999992370605, 1.007200002670288, 2.5199999809265137, 0.3438524305820465, 0.2674407958984375, 0.28581860661506653, 0.4336986839771271, 0.09961536526679993, 0.3521233797073364, 0.2561769485473633, 0.09297433495521545, 0.020691584795713425, 0.28975820541381836, 0.29263660311698914, 0.12783971428871155, 0.013556556776165962, 0.3837856948375702, 0.37035322189331055, 0.0016602561809122562, 0.009275538846850395, 0.05981294810771942, 0.2014874964952469, 0.41065070033073425, 0.0016602561809122562, 0.0007135029300116003, 42.65850067138672, 9.727499961853027, 22.238000869750977, 2.7669999599456787, 0.3343999981880188, 3.691200017929077, 1.5568000078201294, 2.459181547164917, 5.011330604553223, 2.3350136280059814, 1.6999993324279785, 0.6807050108909607, 2.1463215351104736, 0.6888952851295471, 1.0575830936431885, 0.21405088901519775, 0.7522199749946594, 0.19477124512195587, 0.4034422039985657, 0.03496164828538895, 0.7042467594146729, 0.3012717664241791, 0.3254101872444153, 0.11844149231910706, 0.13677813112735748, 0.5804758667945862, 0.3262178301811218, 0.41340377926826477, 0.10631193965673447, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.106578826904297, 2.213505744934082, -13.323391914367676, -1.659453272819519, 0.04860248789191246, -0.267375111579895, 1.6384867429733276, -0.003523048246279359, -0.003250308334827423, 0.019796447828412056, 0.018550632521510124, -4.407881715451367e-05, 0.01994783990085125, 0.010689226910471916, 0.0008709753747098148, 0.0004018351901322603, 0.018960414454340935, 0.00461491709575057, 0.0029044237453490496, 1.4901846952852793e-05, 0.017937740311026573, 0.029136141762137413, 2.3508052890974795e-06, -0.0013595707714557648, -0.0006747249863110483, 0.003966908901929855, 0.010666469112038612, 1.7631039099796908e-06, -0.0032505355775356293, 26.947507858276367, 1.1742686033248901, 12.734703063964844, -1.7019318342208862, -0.6341403722763062, 1.450590968132019, -0.8247047662734985, 0.3039942979812622, 1.491712212562561, 0.4280765950679779, 0.16014063358306885, 0.15493972599506378, 1.078515887260437, -0.008424606174230576, 0.4674478769302368, 0.10860595852136612, -0.09354621917009354, -0.11970815807580948, -0.0008139662677422166, -0.0006677873316220939, -0.0034744488075375557, -0.0023645234759896994, -0.00377892074175179, -0.00425071781501174, -0.0029855065513402224, -0.015981106087565422, 0.007905973121523857, -0.022654151543974876, 0.004325956106185913, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.5379769206047058, 0.7661608457565308, 0.6116775870323181, 0.6230334043502808, 0.23784726858139038, 0.3363696038722992, 0.1583033800125122, 0.04155930131673813, 0.024783600121736526, 0.05224428325891495, 0.05760876461863518, 0.008041421882808208, 0.05978008732199669, 0.04734835773706436, 0.0078545231372118, 0.003781734500080347, 0.044717587530612946, 0.04962892085313797, 0.014699792489409447, 0.0043355440720915794, 0.04224759712815285, 0.06387139111757278, 8.831921149976552e-05, 0.004878107458353043, 0.007424362003803253, 0.020435696467757225, 0.06071425974369049, 6.982465856708586e-05, 0.005815565586090088, 4.520844459533691, 2.286919116973877, 2.036655902862549, 1.772142767906189, 0.2943490445613861, 0.8156174421310425, 0.5748605132102966, 0.6093774437904358, 1.6847689151763916, 0.563537061214447, 0.29679226875305176, 0.16738586127758026, 1.0061018466949463, 0.16094931960105896, 0.4512643814086914, 0.09973394870758057, 0.20432685315608978, 0.17258135974407196, 0.026147253811359406, 0.007284256629645824, 0.07564853131771088, 0.05461231619119644, 0.0288239736109972, 0.00910875853151083, 0.019119365140795708, 0.12246160209178925, 0.08527757972478867, 0.0364016592502594, 0.007512856740504503, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2825]}, "observation.state.tcp": {"min": [0.3620976209640503, 0.19242514669895172, 0.9640429615974426, -1.3806980848312378, 1.220423936843872, -1.5738669633865356, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25027987360954285, -0.4348646104335785, 0.9585757255554199, -0.7559840083122253, 1.2181706428527832, -0.1832849383354187, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4185912311077118, 0.2367813140153885, 1.0575002431869507, -1.1037412881851196, 1.7838726043701172, -1.2283201217651367, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4646301865577698, -0.05099665746092796, 1.148740291595459, 1.2086601257324219, 1.9706361293792725, 1.4862163066864014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40601804852485657, 0.22130894660949707, 1.0010731220245361, -1.2760443687438965, 1.6591635942459106, -1.4774763584136963, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39669662714004517, -0.16165973246097565, 1.0560212135314941, -0.2239619642496109, 1.7266522645950317, 0.6059628129005432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007569031789898872, 0.007164084818214178, 0.02389906346797943, 0.062102995812892914, 0.09744205325841904, 0.059554602950811386, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.057029832154512405, 0.07622456550598145, 0.04899243265390396, 0.3164961636066437, 0.14791914820671082, 0.23839601874351501, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2825]}, "action": {"min": [1.0506281852722168, -0.779308557510376, -0.22482407093048096, 1.1350574493408203, 0.00032503067632205784, -0.7664083242416382, 0.23965249955654144, 0.0, 0.0, -0.223172128200531, 0.0, 0.0, 0.0, -0.03342423960566521, 0.0, 0.0, 0.0, -0.0156711358577013, 0.0, 0.0, 0.0, -0.026581915095448494, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0327028036117554, -1.4073822498321533, -0.24284061789512634, 1.0369465351104736, -1.9789310693740845, -0.8757351636886597, -0.3233450651168823, 0.0, -0.18595027923583984, -0.20393924415111542, -0.1503150314092636, 0.0, 0.0, -0.1576167643070221, 0.0, 0.0, 0.0, -0.11128275096416473, 0.0, 0.0, 0.0, -0.14846083521842957, 0.0, 0.0, -9.961346414399941e-09, 0.0, -0.16884587705135345, 0.0, 0.0, 0.562587559223175, -1.1069587469100952, 0.5440839529037476, -0.0009841668652370572, -1.4486409781966358e-05, -0.052107855677604675, -0.7790001034736633], "max": [1.2704089879989624, -0.6395434737205505, -0.001491099363192916, 1.5678194761276245, 0.16557398438453674, 0.057810306549072266, 0.5816207528114319, 1.3910465240478516, 0.2946132719516754, 0.0, 0.2886887490749359, 0.5369323492050171, 0.4922099709510803, 0.0947115495800972, 0.04634575545787811, 0.04348345473408699, 0.2647697925567627, 0.19116884469985962, 0.04234213009476662, 0.033831167966127396, 0.027025889605283737, 0.18442367017269135, 0.008909040130674839, 0.007978242821991444, 0.26180002093315125, 0.004448689520359039, 0.23809610307216644, 0.0020131166093051434, 0.0020151822827756405, 1.5043538808822632, -0.33358678221702576, -0.001499099307693541, 1.8538447618484497, 0.15243934094905853, 0.024578727781772614, 0.7852242588996887, 1.3953359127044678, 0.2907562851905823, 0.5036112666130066, 0.2935146689414978, 0.40881919860839844, 1.301010012626648, 0.11148607730865479, 0.4458683431148529, 0.23149211704730988, 1.511143684387207, 0.23140153288841248, 1.372292160987854, 0.5622380971908569, 1.5053422451019287, 0.22892135381698608, 1.5082776546478271, 0.9663823843002319, 0.19026410579681396, 1.3104623556137085, 0.23895949125289917, 1.377809762954712, 1.4132764339447021, 0.5626999735832214, -1.106863021850586, 0.5442079901695251, -3.665256681268072e-21, 2.492202474968508e-05, 0.08347335457801819, -0.6000000238418579], "mean": [1.1744765043258667, -0.6898136138916016, -0.22291454672813416, 1.205060601234436, 0.10890688747167587, -0.072197824716568, 0.3426229655742645, 1.337761640548706, 0.29005166888237, -0.13767221570014954, 0.274577260017395, 0.5210771560668945, 0.40447837114334106, 0.08650489151477814, 0.04012623429298401, 0.037714578211307526, 0.15635380148887634, 0.15421698987483978, 0.028407929465174675, 0.022476159036159515, 0.00909262802451849, 0.14554090797901154, 0.0031280224211513996, 0.0028032492846250534, 0.2589942216873169, 0.0011171415681019425, 0.2197522073984146, 0.0005209193914197385, 0.000521457870490849, 1.2686611413955688, -0.6485196948051453, -0.23240426182746887, 1.3222249746322632, -1.373077154159546, -0.3186143934726715, -0.06556666642427444, 1.2609612941741943, -0.01159798912703991, 0.16397280991077423, 0.013475917279720306, 0.10153523087501526, 0.9357845187187195, 0.04033008962869644, 0.19961710274219513, 0.1301598846912384, 1.2043055295944214, -0.06240526959300041, 1.1755002737045288, 0.3111491799354553, 1.2930933237075806, -0.11113111674785614, 1.3426347970962524, 0.597420334815979, 0.0234809760004282, 1.1697918176651, -0.12924404442310333, 0.828857421875, 1.2754662036895752, 0.5627041459083557, -1.1068726778030396, 0.5441551804542542, -0.0006037483690306544, 8.044260368933465e-08, 0.03850964456796646, -0.7253400683403015], "std": [0.048625312745571136, 0.03214739263057709, 0.01736854948103428, 0.06316230446100235, 0.0496586412191391, 0.11771490424871445, 0.06872154772281647, 0.12876088917255402, 0.03006894327700138, 0.020983662456274033, 0.030543172731995583, 0.05462432652711868, 0.07600963115692139, 0.015196151100099087, 0.0061819665133953094, 0.005819535814225674, 0.09508633613586426, 0.039325885474681854, 0.015065896324813366, 0.011584910564124584, 0.011564232409000397, 0.0398884080350399, 0.003915585111826658, 0.003498150035738945, 0.02683444879949093, 0.0015512011013925076, 0.034647855907678604, 0.0007202900596894324, 0.0007209194591268897, 0.12067131698131561, 0.2082732915878296, 0.01993214525282383, 0.19157730042934418, 0.34605270624160767, 0.17194341123104095, 0.17586064338684082, 0.1507631242275238, 0.09408392757177353, 0.15640948712825775, 0.09068795293569565, 0.06664552539587021, 0.1973075121641159, 0.0386357381939888, 0.10240871459245682, 0.055432043969631195, 0.2013813555240631, 0.036935608834028244, 0.257392942905426, 0.07534605264663696, 0.22625170648097992, 0.047434329986572266, 0.28694775700569153, 0.1567634642124176, 0.023223595693707466, 0.2081318199634552, 0.05072329565882683, 0.2630874812602997, 0.27341228723526, 2.166240847145673e-05, 1.1081388947786763e-05, 2.58053023571847e-05, 0.00017917937657330185, 5.898319159314269e-06, 0.03430137038230896, 0.03540267422795296], "count": [2825]}, "observation.state.tcp_pose": {"min": [0.3620976209640503, 0.19242514669895172, 0.9640429615974426, -1.3806980848312378, 1.220423936843872, -1.5738669633865356, 0.25027987360954285, -0.4348646104335785, 0.9585757255554199, -0.7559840083122253, 1.2181706428527832, -0.1832849383354187], "max": [0.4185912311077118, 0.2367813140153885, 1.0575002431869507, -1.1037412881851196, 1.7838726043701172, -1.2283201217651367, 0.4646301865577698, -0.05099665746092796, 1.148740291595459, 1.2086601257324219, 1.9706361293792725, 1.4862163066864014], "mean": [0.40601804852485657, 0.22130894660949707, 1.0010731220245361, -1.2760443687438965, 1.6591635942459106, -1.4774763584136963, 0.39669662714004517, -0.16165973246097565, 1.0560212135314941, -0.2239619642496109, 1.7266522645950317, 0.6059628129005432], "std": [0.007569031789898872, 0.007164084818214178, 0.02389906346797943, 0.062102995812892914, 0.09744205325841904, 0.059554602950811386, 0.057029832154512405, 0.07622456550598145, 0.04899243265390396, 0.3164961636066437, 0.14791914820671082, 0.23839601874351501], "count": [2825]}, "action.tcp_pose": {"min": [0.36204129457473755, 0.19246836006641388, 0.9640663266181946, -1.3806910514831543, 1.2195148468017578, -1.5751969814300537, 0.24959945678710938, -0.43451961874961853, 0.9586332440376282, -0.756239652633667, 1.2189997434616089, -0.18311406672000885], "max": [0.4185454547405243, 0.23680703341960907, 1.0575273036956787, -1.102670431137085, 1.7837798595428467, -1.2298504114151, 0.46451058983802795, -0.051016662269830704, 1.1488327980041504, 1.2079144716262817, 1.9717376232147217, 1.508777141571045], "mean": [0.40604227781295776, 0.22132249176502228, 1.001076340675354, -1.2760324478149414, 1.6590123176574707, -1.4774237871170044, 0.39670756459236145, -0.16185590624809265, 1.0565062761306763, -0.22473172843456268, 1.7246707677841187, 0.6056790947914124], "std": [0.007553805131465197, 0.007153325714170933, 0.023949027061462402, 0.062147486954927444, 0.09773553162813187, 0.05965040624141693, 0.057060372084379196, 0.0763687789440155, 0.04919315129518509, 0.3158436715602875, 0.1497662514448166, 0.23937389254570007], "count": [2825]}, "subtask_index": {"min": [54], "max": [2651], "mean": [2480.984424778761], "std": [531.801746716302], "count": [2825]}, "observation.tactile": {"min": [-0.012387335300445557, -4.217645255266689e-05, -9.177964966511354e-05, -0.0011695408029481769, -0.0001546300045447424, -0.00017124612350016832, -0.003576430957764387, -4.7076158807612956e-05, -0.00010730407666414976, -0.00043383531738072634, -4.244438969180919e-06, -7.957054913276806e-05, -0.00812444370239973, -4.608085873769596e-05, -0.00010168104199692607, -0.0011270750546827912, -2.8503945941338316e-05, -0.0001780240418156609, -0.014227268286049366, -3.468800423434004e-05, -7.471385470125824e-05, -0.00122838094830513, -3.2172501960303634e-05, -0.00030896300449967384, -0.01517456490546465, -4.705358878709376e-05, -0.00010541029769228771, -0.0007158082444220781, -0.0001054800595738925, -0.00018603354692459106, -7.3268890380859375, -4.0649807488080114e-05, -9.028716885950416e-05, -0.35272979736328125, -0.03632020205259323, -0.09918338805437088, -9.167153358459473, -0.9925791621208191, -8.62180459080264e-05, -0.36999252438545227, -0.07040826231241226, -0.11841104924678802, -0.105597123503685, -4.871590863331221e-05, -0.00010843927157111466, -0.0017882088432088494, -0.0006192683940753341, -0.0020110963378101587, -0.015617298893630505, -6.180076888995245e-05, -0.00013938210031483322, -0.0018850885098800063, -4.9584090447751805e-05, -0.00034127311664633453, -0.2740343511104584, -4.426793020684272e-05, -9.662430238677189e-05, -0.0015881696017459035, -0.00012151095870649442, -0.0037401611916720867], "max": [0.008609105832874775, 0.02059362083673477, 0.05996120348572731, 1.738212176860543e-06, 0.0002098771365126595, 0.0001074796964530833, 0.00035004891105927527, 0.008459370583295822, 0.024817941710352898, 1.8372820704826154e-06, 3.17876911140047e-05, 6.850332283647731e-06, 0.006868104916065931, 0.020706452429294586, 0.05946188420057297, 1.8903555201177369e-06, 0.0002566944749560207, 6.744821439497173e-05, 0.017832184210419655, 0.019275788217782974, 0.06113786622881889, 1.373347913613543e-06, 0.0003478349535726011, 0.0002449149324093014, 0.00036894279764965177, 0.013882696628570557, 0.04175969585776329, 1.9930541839130456e-06, 8.98071812116541e-05, 7.8054017649265e-06, 11.068997383117676, 22.71116065979004, 21.69465446472168, 1.6681650549799087e-06, 0.058943718671798706, 0.23164987564086914, 2.6498453617095947, 19.45478630065918, 22.258098602294922, 1.6017859252315247e-06, 0.007176395505666733, 0.08722864091396332, 0.006323134992271662, 0.027020128443837166, 0.0833059772849083, 1.9917461031582206e-06, 0.00018979760352522135, 7.81912385718897e-05, 0.09029233455657959, 0.028695911169052124, 0.0830438882112503, 2.524944648030214e-06, 0.000426788697950542, 0.0015964361373335123, 0.0035334648564457893, 0.05599523335695267, 0.10233170539140701, 1.7605874518267228e-06, 0.0007564553525298834, 2.0670073354267515e-05], "mean": [-0.0008999236160889268, 0.0014690699754282832, 0.004464014898985624, -7.613805792061612e-05, -1.607160083949566e-05, -9.779302672541235e-06, -0.00017243975889869034, 0.0010398664744570851, 0.0031034755520522594, -5.597751078312285e-05, 3.5779207792074885e-06, -4.376686774776317e-06, 0.00010026765812654048, 0.001412631361745298, 0.00416744127869606, -7.128196739358827e-05, 1.4480237950920127e-05, -2.5522328996885335e-06, -5.159968713996932e-05, 0.002112898975610733, 0.00626851711422205, -0.00011303971405141056, 2.42062087636441e-05, -8.141780199366622e-06, -0.00022155570331960917, 0.0008548212354071438, 0.0025074698496609926, -3.607960752560757e-05, -3.5532643778424244e-06, -3.783713395932864e-07, 3.252473831176758, 4.1648077964782715, 7.688823223114014, -0.1348886489868164, 0.013368407264351845, 0.0515659935772419, -2.2396225929260254, 1.3143194913864136, 8.403974533081055, -0.12790264189243317, -0.008766936138272285, -0.03285524994134903, -0.0011234271805733442, 0.0036787160206586123, 0.010821647010743618, -0.00021773535991087556, 1.9748598788282834e-05, -2.923171268776059e-05, -0.0005775375757366419, 0.0028863362967967987, 0.008500972762703896, -0.00017731002299115062, 1.3425401448330376e-05, -1.7197216948261485e-05, -0.001078865141607821, 0.002374144969508052, 0.00689345458522439, -0.00014444123371504247, 9.370350539938954e-08, -2.070191112579778e-05], "std": [0.001745876856148243, 0.002092099981382489, 0.006353367585688829, 0.00010944529640255496, 2.707739440666046e-05, 2.3883734684204683e-05, 0.0005111917853355408, 0.0014411339070647955, 0.0041749607771635056, 7.489849667763337e-05, 5.586905899690464e-06, 1.1057392839575186e-05, 0.0008173903916031122, 0.002673813607543707, 0.007827936671674252, 0.00014179265417624265, 3.459493018453941e-05, 1.693664125923533e-05, 0.0012699214275926352, 0.0032195691019296646, 0.00954536721110344, 0.0001776844001142308, 4.44161232735496e-05, 2.3842674636398442e-05, 0.001243887236341834, 0.001979011343792081, 0.005831224378198385, 8.501113188685849e-05, 1.2829003935621586e-05, 1.7348716937704012e-05, 3.5870487689971924, 3.96250581741333, 6.955531597137451, 0.11866536736488342, 0.017643677070736885, 0.06210532784461975, 2.402116298675537, 1.966092586517334, 7.55247688293457, 0.11562435328960419, 0.010071702301502228, 0.036086879670619965, 0.0032208531629294157, 0.004525686148554087, 0.013218761421740055, 0.00026874832110479474, 3.7816451367689297e-05, 6.397331162588671e-05, 0.0025067706592381, 0.004360176157206297, 0.012742090970277786, 0.0002696434094104916, 2.9338556487346068e-05, 5.138345659361221e-05, 0.009184112772345543, 0.0033424226567149162, 0.009134387597441673, 0.0001984728587558493, 2.3001084628049284e-05, 0.00013087275146972388], "count": [2825]}, "timestamp": {"min": [0.0], "max": [94.13333333333334], "mean": [47.06666666666667], "std": [27.18357347124669], "count": [2825]}, "frame_index": {"min": [0], "max": [2824], "mean": [1412.0], "std": [815.5072041374007], "count": [2825]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [2825]}, "index": {"min": [124859], "max": [127683], "mean": [126271.0], "std": [815.5072041374007], "count": [2825]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2825]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5719029307365417]], [[0.5722067952156067]], [[0.5724813938140869]]], "std": [[[0.3003442585468292]], [[0.29987266659736633]], [[0.30061498284339905]]], "count": [2825]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3027203381061554]], [[0.3062223792076111]], [[0.3043370246887207]]], "std": [[[0.18190757930278778]], [[0.1826513409614563]], [[0.182918518781662]]], "count": [2825]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30965879559516907]], [[0.3127673864364624]], [[0.3103773295879364]]], "std": [[[0.1823257952928543]], [[0.1822708249092102]], [[0.18179722130298615]]], "count": [2825]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5730975866317749]], [[0.5731558203697205]], [[0.5730676651000977]]], "std": [[[0.3043544888496399]], [[0.3041428029537201]], [[0.3051142394542694]]], "count": [2825]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7647058963775635]], [[0.7647058963775635]], [[0.7647058963775635]]], "mean": [[[0.004671113565564156]], [[0.004671113565564156]], [[0.004671113565564156]]], "std": [[[0.04417957365512848]], [[0.04417957365512848]], [[0.04417957365512848]]], "count": [2825]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49049845337867737]], [[0.49049845337867737]], [[0.49049845337867737]]], "std": [[[0.22156743705272675]], [[0.22156743705272675]], [[0.22156743705272675]]], "count": [2825]}}}
+{"episode_index": 49, "stats": {"observation.state": {"min": [1.0510141849517822, -0.7793509364128113, -0.22473129630088806, 1.0764833688735962, -0.012966332025825977, -0.7674999833106995, 0.21105550229549408, 0.0069110761396586895, -0.0015362976118922234, -0.21624048054218292, 0.004038658458739519, 0.0035197455435991287, 0.0036461048293858767, -0.05031271278858185, 0.0034665612038224936, 0.000854919315315783, -0.003254828741773963, -0.05643084645271301, 0.003032576059922576, 0.0008398429490625858, -0.0031527774408459663, -0.026928629726171494, 0.002801401074975729, 0.0008544759475626051, 0.005571163725107908, -0.003000929020345211, -0.02592848241329193, 0.005842841695994139, 0.0008668916998431087, 1.050971269607544, -1.0907551050186157, -0.24266797304153442, 1.060088038444519, -1.8136283159255981, -0.7682729959487915, -0.3686455488204956, 0.005598819348961115, -0.1762619912624359, -0.23493047058582306, -0.19900549948215485, 0.0032467322889715433, 0.005304674152284861, -0.0885937511920929, 0.0035846305545419455, 0.0008247665828093886, -0.0002087627799483016, -0.1305859386920929, 0.006404823623597622, 0.0009001484722830355, -0.0015368933090940118, -0.17019158601760864, 0.003875372465699911, 0.000870439107529819, 0.014191750437021255, -0.0017925100401043892, -0.1912221610546112, 0.0032538236118853092, 0.0009923804318532348, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0009587379754520953, -9.58738019107841e-05, -0.007478156127035618, -0.7553896903991699], "max": [1.2693538665771484, -0.6906031966209412, -0.0017271664692088962, 1.5680404901504517, 0.15809109807014465, 0.20245946943759918, 0.5481191277503967, 1.2864367961883545, 0.29831957817077637, 0.00037596665788441896, 0.2855011224746704, 0.4773019254207611, 0.42909523844718933, 0.07481495290994644, 0.037811294198036194, 0.036136750131845474, 0.20593367516994476, 0.15341998636722565, 0.030196700245141983, 0.027085600420832634, 0.021921519190073013, 0.1593852937221527, 0.0028535218443721533, 0.0037522444035857916, 0.24098359048366547, 0.016611937433481216, 0.23053573071956635, 0.0058938986621797085, 0.003776189172640443, 1.5025008916854858, -0.2711484134197235, -0.002055054996162653, 1.8381983041763306, 0.2111949920654297, 0.07356492429971695, 0.6861090064048767, 1.4412976503372192, 0.2707247734069824, 0.4135521352291107, 0.28997179865837097, 0.5672924518585205, 1.0929880142211914, 0.07881896197795868, 0.3704086244106293, 0.2939991354942322, 1.3309823274612427, 0.18403545022010803, 1.3234786987304688, 0.43044477701187134, 1.392034649848938, 0.2007339894771576, 1.4987176656723022, 0.8511049747467041, 0.24969516694545746, 1.320368766784668, 0.22828154265880585, 1.382058024406433, 1.3081520795822144, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.08091748505830765, -0.5999782085418701], "mean": [1.1894093751907349, -0.7130348086357117, -0.22181154787540436, 1.1286219358444214, 0.08845487982034683, 0.119002565741539, 0.28183090686798096, 1.2635622024536133, 0.2917633652687073, -0.06798522174358368, 0.267200767993927, 0.4625483453273773, 0.4023115336894989, 0.0639403760433197, 0.034679193049669266, 0.034733179956674576, 0.16378569602966309, 0.13464386761188507, 0.028044383972883224, 0.02287973463535309, 0.008351175114512444, 0.1324605941772461, 0.002825880656018853, 0.002070866758003831, 0.23729589581489563, 0.00600186875090003, 0.20831680297851562, 0.005871107801795006, 0.0022141553927212954, 1.2801122665405273, -0.5746864676475525, -0.23400388658046722, 1.2957192659378052, -1.3645368814468384, -0.29432880878448486, -0.09612834453582764, 1.2747782468795776, -0.04752369970083237, 0.18429775536060333, 0.06378737837076187, 0.09093471616506577, 0.9159030318260193, 0.03085029125213623, 0.19789612293243408, 0.1224445179104805, 1.2324438095092773, -0.08203747123479843, 1.135726809501648, 0.19677414000034332, 1.3041985034942627, -0.12965929508209229, 1.3004546165466309, 0.4762492775917053, 0.02287519909441471, 1.2021013498306274, -0.14711472392082214, 0.7480215430259705, 1.2433143854141235, 0.5626974105834961, -1.1068511009216309, 0.544082522392273, -0.0005561006837524474, -4.123603858374736e-08, 0.04420826956629753, -0.7064726948738098], "std": [0.02240428701043129, 0.014683329500257969, 0.020620176568627357, 0.06001639738678932, 0.018023435026407242, 0.12487118691205978, 0.061999380588531494, 0.13303053379058838, 0.03362204134464264, 0.021338989958167076, 0.03176118806004524, 0.05764969065785408, 0.058269672095775604, 0.012150353752076626, 0.0049027143977582455, 0.004657946061342955, 0.041861820966005325, 0.028416313230991364, 0.005093585234135389, 0.00487222196534276, 0.007769392803311348, 0.031763192266225815, 7.736911356914788e-06, 0.0008068598690442741, 0.02720668539404869, 0.0066225407645106316, 0.03647619113326073, 6.884148660901701e-06, 0.0008700292673893273, 0.12606798112392426, 0.171112060546875, 0.022114962339401245, 0.187663272023201, 0.38223740458488464, 0.1528441160917282, 0.2080802470445633, 0.1561187356710434, 0.08928166329860687, 0.17119823396205902, 0.08633982390165329, 0.09287264943122864, 0.18310479819774628, 0.02776758186519146, 0.09421376138925552, 0.05092063918709755, 0.23380915820598602, 0.03142564743757248, 0.24964381754398346, 0.06382790952920914, 0.2555464804172516, 0.04660903289914131, 0.28157079219818115, 0.18040728569030762, 0.029866470023989677, 0.23999324440956116, 0.05271719768643379, 0.27387404441833496, 0.2655709981918335, 3.71580317732878e-05, 4.0030474337982014e-05, 4.7911784349707887e-05, 0.00014693890989292413, 5.964707725070184e-06, 0.019714558497071266, 0.033661700785160065], "count": [2325]}, "observation.state.joint_torque": {"min": [-34.08150100708008, -6.317999839782715, -16.799999237060547, -6.986999988555908, -0.7271999716758728, -1.4495999813079834, 1.1200000047683716, -1.1665512323379517, -0.32474949955940247, -0.3641080856323242, -0.36162269115448, -0.1494230479001999, -0.37035322189331055, -0.5257863998413086, -0.08467306196689606, -0.039956167340278625, -0.4327183663845062, -0.44423195719718933, -0.12783971428871155, -0.032821137458086014, -0.21971730887889862, -0.5267458558082581, -0.0016602561809122562, -0.03424813970923424, -0.11654729396104813, -0.1276087462902069, -0.5277053117752075, -0.0016602561809122562, -0.027826614677906036, 6.142499923706055, -7.073999881744385, -4.063000202178955, -7.539999961853027, -3.0423998832702637, -4.026400089263916, -3.890399932861328, -1.5014890432357788, -0.7424665689468384, -0.8189324140548706, -1.38559889793396, -0.09131408482789993, -0.9278019666671753, -0.8865450024604797, -0.13448072969913483, -0.07135029137134552, -1.2156411409378052, -1.0362213850021362, -0.28556403517723083, -0.07491781562566757, -0.7320712208747864, -0.3463665843009949, -0.19923073053359985, -0.051372215151786804, -0.15305078029632568, -0.7052062153816223, -0.46246176958084106, -0.1145576685667038, -0.052085720002651215, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.48349952697754, 11.345999717712402, -11.069000244140625, 5.9019999504089355, 1.4112000465393066, 1.2015999555587769, 3.0064001083374023, 0.26234665513038635, 0.18593502044677734, 0.3168858587741852, 0.3516811728477478, 0.09463459998369217, 0.36075854301452637, 0.3022312521934509, 0.10127562284469604, 0.026399608701467514, 0.2648121416568756, 0.19093337655067444, 0.11787818372249603, 0.012843053787946701, 0.2628931999206543, 0.3713126480579376, 0.0016602561809122562, 0.009275538846850395, 0.06421096622943878, 0.16694678366184235, 0.378028929233551, 0.0016602561809122562, 0.011416046880185604, 40.78950119018555, 12.292499542236328, 22.170000076293945, 3.4630000591278076, 0.42160001397132874, 3.6863999366760254, 3.540800094604492, 2.907463312149048, 5.00878381729126, 2.730189085006714, 1.5297508239746094, 0.7487755417823792, 2.14536190032959, 0.7570173144340515, 1.0592433214187622, 0.21476440131664276, 0.3761099874973297, 0.2561769485473633, 0.1328205019235611, 0.05279921740293503, 0.4403940737247467, 0.2369876503944397, 0.10459613054990768, 0.022118592634797096, 0.1213851049542427, 0.555529773235321, 0.3981776535511017, 0.11289741843938828, 0.08562035858631134, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.561445236206055, 2.6728224754333496, -13.053079605102539, -1.0833500623703003, -0.3891156017780304, -0.2829844355583191, 1.6275391578674316, -0.0012609254335984588, -0.0030038817785680294, 0.012695235200226307, 0.009798306971788406, 0.0030041830614209175, 0.009746954776346684, 0.008320718072354794, 0.0004577317740768194, -3.8666890759486705e-05, 0.017230290919542313, 0.0018500107107684016, 0.0015410060295835137, 0.00012797064846381545, 0.01660141721367836, 0.024335792288184166, 6.42679697193671e-06, -0.002540377900004387, -0.0004568258882500231, 0.008294709026813507, 0.01703844778239727, 0.0, -0.001382507965900004, 27.202987670898438, 0.5138417482376099, 12.481491088867188, -1.6472039222717285, -0.6760023832321167, 1.3461440801620483, -0.7230052947998047, 0.35902145504951477, 1.4576777219772339, 0.4660565257072449, 0.11129461228847504, 0.16247616708278656, 1.1392309665679932, -0.03953199088573456, 0.4666738212108612, 0.1159685030579567, -0.1279287487268448, -0.133445143699646, -0.0028363594319671392, -0.0010765453334897757, 0.0038630191702395678, -0.0055442629382014275, -0.0015402865828946233, -0.002066239481791854, -0.0008071536431089044, -0.009663575328886509, 0.002066253684461117, -0.019373944029211998, 0.0037896819412708282, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.5997713804244995, 0.8233321309089661, 0.4746324121952057, 0.6727691292762756, 0.2819210886955261, 0.3571377098560333, 0.17443813383579254, 0.04037511721253395, 0.021098876371979713, 0.06017020344734192, 0.05525300279259682, 0.012171009555459023, 0.05500640347599983, 0.046641211956739426, 0.008062380366027355, 0.003951275255531073, 0.04087625816464424, 0.036603644490242004, 0.013095769099891186, 0.003369380021467805, 0.0370306670665741, 0.057342469692230225, 0.00012397932005114853, 0.006236484739929438, 0.006776248104870319, 0.026135144755244255, 0.052945397794246674, 4.8694357246859e-05, 0.004530870821326971, 4.803834915161133, 2.067030668258667, 2.7313361167907715, 1.9442845582962036, 0.3185855448246002, 0.9283159971237183, 0.7042165398597717, 0.7043418288230896, 1.6091166734695435, 0.5649059414863586, 0.37916287779808044, 0.17568270862102509, 0.9941259026527405, 0.18445710837841034, 0.4365707039833069, 0.10083089768886566, 0.24081146717071533, 0.19200725853443146, 0.02839839458465576, 0.009220654144883156, 0.07397016137838364, 0.05237036943435669, 0.022306587547063828, 0.009433617815375328, 0.015268607996404171, 0.12515684962272644, 0.07709590345621109, 0.03530918434262276, 0.006180748343467712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2325]}, "observation.state.tcp": {"min": [0.36205217242240906, 0.19241484999656677, 0.9931350946426392, -1.2933602333068848, 1.2202098369598389, -1.5959062576293945, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25444212555885315, -0.27230775356292725, 0.9691318273544312, -0.746552050113678, 1.1296206712722778, 0.3493618667125702, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42401567101478577, 0.26239487528800964, 1.0593349933624268, -1.0351608991622925, 1.8466655015945435, -1.2286230325698853, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46930456161499023, -0.02993946522474289, 1.1545313596725464, 1.2083979845046997, 2.0599286556243896, 1.499031662940979, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4157550036907196, 0.2491653859615326, 1.0059818029403687, -1.2486757040023804, 1.7524319887161255, -1.5363539457321167, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4023420512676239, -0.1328532099723816, 1.0597450733184814, -0.23777732253074646, 1.7222238779067993, 0.615505576133728, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.005514448508620262, 0.007649619597941637, 0.013507782481610775, 0.04276163503527641, 0.09880533069372177, 0.0401543490588665, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05594510957598686, 0.06336961686611176, 0.05408622324466705, 0.3558118939399719, 0.15388882160186768, 0.19778341054916382, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2325]}, "action": {"min": [1.0513970851898193, -0.7795809507369995, -0.22472819685935974, 1.076492428779602, -0.012913711369037628, -0.7665709257125854, 0.2110680490732193, 0.0, 0.0, -0.2197044938802719, 0.0, 0.0, 0.0, -0.052826087921857834, 0.0, 0.0, 0.0, -0.06553175300359726, 0.0, 0.0, 0.0, -0.08755259960889816, 0.0, 0.0, 0.0, 0.0, -0.07893307507038116, 0.0, 0.0, 1.0504158735275269, -1.0907939672470093, -0.24265658855438232, 1.0599827766418457, -1.8136240243911743, -0.7690318822860718, -0.3687397539615631, 0.0, -0.1752343475818634, -0.2363419085741043, -0.14426115155220032, 0.0, 0.0, -0.11194269359111786, 0.0, 0.0, 0.0, -0.1352134346961975, 0.0, 0.0, 0.0, -0.17241540551185608, 0.0, 0.0, -9.899669528579125e-09, 0.0, -0.19036124646663666, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.544083833694458, -0.0009214829187840223, -1.3772628335573245e-05, -0.007330283056944609, -0.755571722984314], "max": [1.2692726850509644, -0.690598726272583, -0.001620529918000102, 1.5679291486740112, 0.15823854506015778, 0.20246948301792145, 0.5481581091880798, 1.297815203666687, 0.2957157790660858, 0.0, 0.2850624918937683, 0.48120519518852234, 0.4363667368888855, 0.07233501970767975, 0.04196454957127571, 0.040021155029535294, 0.21699421107769012, 0.15742169320583344, 0.040528830140829086, 0.030721742659807205, 0.023572955280542374, 0.16945908963680267, 0.007252886891365051, 0.006756626069545746, 0.26180002093315125, 0.019953113049268723, 0.23592796921730042, 0.0076172975823283195, 0.007575349882245064, 1.5024967193603516, -0.2710619270801544, -0.0004578913503792137, 1.8391335010528564, 0.21116067469120026, 0.07364847511053085, 0.6958829760551453, 1.4344170093536377, 0.28595009446144104, 0.41624557971954346, 0.28897032141685486, 0.5708938241004944, 1.2024128437042236, 0.09705723822116852, 0.40798676013946533, 0.3132893443107605, 1.4479857683181763, 0.2309926450252533, 1.3267232179641724, 0.44231700897216797, 1.4275124073028564, 0.2413761168718338, 1.5022263526916504, 0.8542782068252563, 0.26180002093315125, 1.3255174160003662, 0.2568402588367462, 1.384655475616455, 1.4083919525146484, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 5.522008968985393e-20, 1.38880277518183e-05, 0.08154596388339996, -0.6000000238418579], "mean": [1.1894711256027222, -0.7130383253097534, -0.2218184471130371, 1.1286547183990479, 0.08837362378835678, 0.11892512440681458, 0.2819371819496155, 1.2688406705856323, 0.291206955909729, -0.06524129211902618, 0.269538938999176, 0.46828198432922363, 0.4061459004878998, 0.06578577309846878, 0.03958875685930252, 0.03788607195019722, 0.17106975615024567, 0.13547085225582123, 0.03418868035078049, 0.026393558830022812, 0.008946795016527176, 0.13938036561012268, 0.0030489249620586634, 0.002843012334778905, 0.25824713706970215, 0.007361912168562412, 0.21540570259094238, 0.002967210952192545, 0.0029552876949310303, 1.2813307046890259, -0.5755508542060852, -0.2340303659439087, 1.2963415384292603, -1.3643993139266968, -0.2950710952281952, -0.09583920240402222, 1.2782833576202393, -0.041756000369787216, 0.18625003099441528, 0.06484146416187286, 0.09148529917001724, 0.9481968283653259, 0.02650069072842598, 0.20273146033287048, 0.15494875609874725, 1.2341623306274414, -0.08193856477737427, 1.1348172426223755, 0.19672028720378876, 1.3059157133102417, -0.1297944039106369, 1.3006908893585205, 0.4766642451286316, 0.01586020365357399, 1.2029606103897095, -0.1474975198507309, 0.7473104000091553, 1.2843507528305054, 0.5626963973045349, -1.106859564781189, 0.5441529154777527, -0.0006015667458996177, 1.2122399084546487e-07, 0.04425463825464249, -0.7065157294273376], "std": [0.022388961166143417, 0.014694935642182827, 0.020566297695040703, 0.06009671464562416, 0.017950037494301796, 0.12495353817939758, 0.06226445734500885, 0.14414484798908234, 0.03386249765753746, 0.021997109055519104, 0.03222014382481575, 0.056833118200302124, 0.056874532252550125, 0.011917341500520706, 0.00526120001450181, 0.004968458320945501, 0.04231693223118782, 0.027334697544574738, 0.006817493122071028, 0.00530980434268713, 0.008328412659466267, 0.03188716247677803, 0.002590628806501627, 0.0024120730813592672, 0.03002316690981388, 0.008224078454077244, 0.03555436432361603, 0.003208044683560729, 0.0031924997456371784, 0.1263745278120041, 0.17201343178749084, 0.022013602778315544, 0.18837293982505798, 0.38236087560653687, 0.1530621200799942, 0.20882076025009155, 0.16588833928108215, 0.09376861900091171, 0.17264990508556366, 0.08445455878973007, 0.09388696402311325, 0.20562931895256042, 0.0248626209795475, 0.09882869571447372, 0.06890756636857986, 0.22901956737041473, 0.03297119960188866, 0.24703802168369293, 0.06385856866836548, 0.24922209978103638, 0.04609430953860283, 0.2774280905723572, 0.17958135902881622, 0.033733222633600235, 0.23399706184864044, 0.05240510031580925, 0.2723974883556366, 0.2748219966888428, 1.2989315109734889e-05, 4.971107955498155e-06, 1.693386002443731e-05, 0.00014563536387868226, 5.651957508234773e-06, 0.019746864214539528, 0.03371436893939972], "count": [2325]}, "observation.state.tcp_pose": {"min": [0.36205217242240906, 0.19241484999656677, 0.9931350946426392, -1.2933602333068848, 1.2202098369598389, -1.5959062576293945, 0.25444212555885315, -0.27230775356292725, 0.9691318273544312, -0.746552050113678, 1.1296206712722778, 0.3493618667125702], "max": [0.42401567101478577, 0.26239487528800964, 1.0593349933624268, -1.0351608991622925, 1.8466655015945435, -1.2286230325698853, 0.46930456161499023, -0.02993946522474289, 1.1545313596725464, 1.2083979845046997, 2.0599286556243896, 1.499031662940979], "mean": [0.4157550036907196, 0.2491653859615326, 1.0059818029403687, -1.2486757040023804, 1.7524319887161255, -1.5363539457321167, 0.4023420512676239, -0.1328532099723816, 1.0597450733184814, -0.23777732253074646, 1.7222238779067993, 0.615505576133728], "std": [0.005514448508620262, 0.007649619597941637, 0.013507782481610775, 0.04276163503527641, 0.09880533069372177, 0.0401543490588665, 0.05594510957598686, 0.06336961686611176, 0.05408622324466705, 0.3558118939399719, 0.15388882160186768, 0.19778341054916382], "count": [2325]}, "action.tcp_pose": {"min": [0.36217984557151794, 0.19261179864406586, 0.9931584000587463, -1.2934056520462036, 1.219491720199585, -1.596314787864685, 0.25454699993133545, -0.2723163962364197, 0.9691081643104553, -0.7468799948692322, 1.1328433752059937, 0.3493686616420746], "max": [0.4232475459575653, 0.26241257786750793, 1.0599359273910522, -1.0353392362594604, 1.8466116189956665, -1.2303097248077393, 0.4693363904953003, -0.029871881008148193, 1.154452919960022, 1.2083216905593872, 2.06005859375, 1.4966776371002197], "mean": [0.41577643156051636, 0.24916087090969086, 1.0059776306152344, -1.2485568523406982, 1.7523257732391357, -1.5364067554473877, 0.4024644196033478, -0.13311971724033356, 1.0604026317596436, -0.23767121136188507, 1.7201552391052246, 0.6155890822410583], "std": [0.005489606875926256, 0.007674294989556074, 0.013620044104754925, 0.043050605803728104, 0.09906148910522461, 0.03980756178498268, 0.05595650151371956, 0.06363891065120697, 0.054423533380031586, 0.35560962557792664, 0.15536394715309143, 0.1983925700187683], "count": [2325]}, "subtask_index": {"min": [54], "max": [2696], "mean": [2600.843440860215], "std": [417.3192805764534], "count": [2325]}, "observation.tactile": {"min": [-0.01365920715034008, -3.806121458183043e-05, -8.246695506386459e-05, -0.0015801236731931567, -9.963563206838444e-05, -0.00023862764646764845, -0.003404401708394289, -4.567651922116056e-05, -0.00010492960427654907, -0.000490425678435713, -1.8546987803347292e-06, -7.053327863104641e-05, -0.010780476033687592, -4.621335756382905e-05, -0.0001026894969982095, -0.0014185106847435236, -2.9377992177614942e-05, -0.00022495153825730085, -0.011794575490057468, -3.465996269369498e-05, -7.478035695385188e-05, -0.0010451276320964098, -1.798554694687482e-05, -0.00026359944604337215, -0.009299608878791332, -4.8794659960549325e-05, -0.00011088953033322468, -0.001196320285089314, -4.352898758952506e-05, -0.0002025849826168269, -17.842458724975586, -3.791468043345958e-05, -8.52022785693407e-05, -0.384673535823822, -0.03532805293798447, -0.3166334629058838, -5.587503433227539, -0.47225287556648254, -0.00010448486864333972, -0.21916775405406952, -0.04693840071558952, -0.11118368059396744, -2.468172788619995, -4.95905514981132e-05, -0.27748537063598633, -0.0071189189329743385, -0.0035574338398873806, -0.03186902776360512, -0.015398037619888783, -5.5105243518482894e-05, -0.00012343878915999085, -0.001569472486153245, -3.0444376534433104e-05, -0.00036666952655650675, -0.3995956778526306, -4.502841329667717e-05, -0.00010028822725871578, -0.0012390248011797667, -5.5565396905876696e-05, -0.004945430904626846], "max": [0.00406893715262413, 0.029952621087431908, 0.08479949831962585, 1.5669431832066039e-06, 0.00032242017914541066, 6.340948402794311e-06, 0.00033382850233465433, 0.010884363204240799, 0.03008742816746235, 1.809829200283275e-06, 3.690320590976626e-05, 6.608131116081495e-06, 0.03018227405846119, 0.02457546442747116, 0.07849296182394028, 1.9332112515257904e-06, 0.00040412117959931493, 0.0004220716655254364, 0.005627905484288931, 0.0196785070002079, 0.054593272507190704, 1.3924416180088883e-06, 0.0001463527587475255, 5.8105040807276964e-05, 0.0009967151563614607, 0.019274523481726646, 0.05633042752742767, 2.0839538592554163e-06, 0.00011356753384461626, 7.953077329148073e-06, 10.041732788085938, 26.352426528930664, 23.91571044921875, 1.5857277730901842e-06, 0.09093029052019119, 0.19308090209960938, 5.861685276031494, 13.62235164642334, 16.195106506347656, 1.9751996660488658e-06, 0.010480773635208607, 0.12281806021928787, 0.007973372004926205, 0.47468265891075134, 0.515068769454956, 0.004258888307958841, 0.006460132077336311, 0.000101865480246488, 0.0030802846886217594, 0.026163214817643166, 0.07655835896730423, 2.252851572848158e-06, 0.00015637009346392006, 2.356337063247338e-05, 0.01174596045166254, 0.03137414529919624, 0.05803405120968819, 1.835751618273207e-06, 0.000961518962867558, 0.00019307418551761657], "mean": [-0.0005752998986281455, 0.001320188632234931, 0.0039528547786176205, -7.323842874029651e-05, -1.893530225061113e-06, -9.102366675506346e-06, -0.00029925093986094, 0.0013888239627704024, 0.004105036146938801, -6.842543371021748e-05, 5.317221621226054e-06, -6.3771176428417675e-06, -2.0345869415905327e-05, 0.0013629060704261065, 0.004055069759488106, -7.119606743799523e-05, 8.309202712553088e-06, -3.845153059955919e-06, -0.0003642737865447998, 0.0011037590447813272, 0.0032334451097995043, -5.6695687817409635e-05, 5.1118458941346034e-06, -7.765775990264956e-06, 0.00016151773161254823, 0.00043252063915133476, 0.001287552178837359, -1.9925149899790995e-05, 1.5875394865361159e-06, 3.053847194678383e-06, 2.4892239570617676, 4.093366622924805, 7.941454887390137, -0.14743715524673462, 0.017950402572751045, 0.04075406864285469, -1.5058581829071045, 1.014155387878418, 5.391580104827881, -0.08453432470560074, -0.004244880750775337, -0.023546133190393448, -0.016429254785180092, 0.005445683840662241, 0.010394475422799587, -0.0001763541076797992, 3.348242898937315e-05, -0.00022007906227372587, -0.0007773578981868923, 0.0028096032328903675, 0.008288467302918434, -0.00016823683108668774, 8.818677088129334e-06, -1.9247321688453667e-05, -0.0009607156389392912, 0.0032907556742429733, 0.009650342166423798, -0.00020837112970184535, 1.290094019168464e-06, -2.0222765670041554e-05], "std": [0.0016800286248326302, 0.002804194577038288, 0.008184042759239674, 0.00017080364341381937, 2.5034525606315583e-05, 2.872281584131997e-05, 0.0006326232687570155, 0.001880232011899352, 0.005438711494207382, 9.017660340759903e-05, 7.485990863642655e-06, 1.286688529944513e-05, 0.0015528980875387788, 0.0028198794461786747, 0.008304054848849773, 0.0001559421216370538, 2.607141504995525e-05, 2.9334467399166897e-05, 0.0013711480423808098, 0.0024291756562888622, 0.007029249798506498, 0.0001281012810068205, 1.5280982552212663e-05, 2.792471605062019e-05, 0.0007385992794297636, 0.001487797242589295, 0.004310533404350281, 7.846074731787667e-05, 1.0568348443484865e-05, 1.6216850781347603e-05, 3.503459930419922, 4.224450588226318, 6.814036846160889, 0.1246277242898941, 0.021012568846344948, 0.06503883749246597, 1.6911423206329346, 1.5646836757659912, 4.816764831542969, 0.07476166635751724, 0.00811801664531231, 0.028076056391000748, 0.15682481229305267, 0.029529590159654617, 0.03211946785449982, 0.0004962968523614109, 0.00031924244831316173, 0.0019448273815214634, 0.002146892249584198, 0.005225973669439554, 0.0153052331879735, 0.00031329397461377084, 2.0693736587418243e-05, 4.956514749210328e-05, 0.00838877446949482, 0.00428006099537015, 0.012437451630830765, 0.0002675793366506696, 2.9761224141111597e-05, 0.00010637020750436932], "count": [2325]}, "timestamp": {"min": [0.0], "max": [77.46666666666667], "mean": [38.733333333333334], "std": [22.3723208617421], "count": [2325]}, "frame_index": {"min": [0], "max": [2324], "mean": [1162.0], "std": [671.169625852263], "count": [2325]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [2325]}, "index": {"min": [127684], "max": [130008], "mean": [128846.0], "std": [671.169625852263], "count": [2325]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2325]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5690785050392151]], [[0.5694109201431274]], [[0.5696802139282227]]], "std": [[[0.2997865080833435]], [[0.29934507608413696]], [[0.3001001477241516]]], "count": [2325]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30156633257865906]], [[0.30565816164016724]], [[0.30381864309310913]]], "std": [[[0.1813671737909317]], [[0.1820661872625351]], [[0.18263377249240875]]], "count": [2325]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3092914819717407]], [[0.3130333125591278]], [[0.3103943467140198]]], "std": [[[0.18227525055408478]], [[0.18225480616092682]], [[0.18180936574935913]]], "count": [2325]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5686647295951843]], [[0.5687617063522339]], [[0.5687128305435181]]], "std": [[[0.3030781149864197]], [[0.30287837982177734]], [[0.30383211374282837]]], "count": [2325]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7215686440467834]], [[0.7215686440467834]], [[0.7215686440467834]]], "mean": [[[0.0041997721418738365]], [[0.0041997721418738365]], [[0.0041997721418738365]]], "std": [[[0.041450053453445435]], [[0.041450053453445435]], [[0.041450053453445435]]], "count": [2325]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4902227520942688]], [[0.4902227520942688]], [[0.4902227520942688]]], "std": [[[0.22156207263469696]], [[0.22156207263469696]], [[0.22156207263469696]]], "count": [2325]}}}
+{"episode_index": 50, "stats": {"observation.state": {"min": [1.0504825115203857, -0.8177433013916016, -0.22664974629878998, 1.123892068862915, 0.00039056589594110847, -0.7692602276802063, 0.2711162269115448, 0.006746841128915548, -0.00022223290579859167, -0.2867078185081482, 0.00015625810192432255, 0.0034768434707075357, 0.003566622966900468, -0.0039294408634305, 0.003489253344014287, 0.0008433902985416353, 0.00900720153003931, -7.114108302630484e-05, 0.0030286761466413736, 0.0008464942802675068, -0.0032477141357958317, 0.004901622887700796, 0.002704605460166931, 0.0008274271385744214, 0.0055454750545322895, -0.002943770494312048, 0.007702865172177553, 0.005670169834047556, 0.0008691088296473026, 0.8993359208106995, -1.1736294031143188, -0.2428026795387268, 1.0226231813430786, -2.008704900741577, -0.7993518710136414, -0.3218350410461426, 0.005615441594272852, -0.13733568787574768, -0.23545114696025848, -0.28057339787483215, 0.005267740227282047, 0.005261008162051439, -0.016064900904893875, 0.003582857782021165, 0.000839399523101747, -0.001730200950987637, -0.08380276709794998, 0.0034342959988862276, 0.0008629009244032204, -0.0015089277876541018, -0.13187478482723236, 0.0038743086624890566, 0.0008930536569096148, 0.006521633360534906, -0.0020105980802327394, -0.1534646451473236, 0.005819794721901417, 0.0010526860132813454, 0.5624915957450867, -1.1069588661193848, 0.543796181678772, -0.0009587379754520953, -9.58738019107841e-05, -0.008053398691117764, -0.7824260592460632], "max": [1.248422384262085, -0.5792489647865295, -0.0006568553508259356, 1.5693347454071045, 0.2387220412492752, 0.12136316299438477, 0.6457912921905518, 1.3730261325836182, 0.29173463582992554, -0.0034999935887753963, 0.2153792679309845, 0.5923415422439575, 0.6993502974510193, 0.13387630879878998, 0.04529576003551483, 0.05003894492983818, 0.4985628128051758, 0.2521633505821228, 0.08724480122327805, 0.05003761127591133, 0.2530349791049957, 0.2843436598777771, 0.033990878611803055, 0.031626250594854355, 0.09257122874259949, 0.25646641850471497, 0.266718327999115, 0.040982503443956375, 0.03624361380934715, 1.5074750185012817, -0.2959056794643402, -0.00019809923833236098, 1.7666529417037964, 0.045627180486917496, 0.10440752655267715, 0.6981490850448608, 1.4924367666244507, 0.2880794107913971, 0.3218575716018677, 0.21839873492717743, 0.5633142590522766, 1.1022096872329712, 0.16260139644145966, 0.5736309289932251, 0.3583858907222748, 1.467185378074646, 0.29191237688064575, 1.381526231765747, 0.521280825138092, 1.4689499139785767, 0.293087899684906, 1.5028505325317383, 0.7470797300338745, 0.1250809282064438, 1.381368637084961, 0.2947877049446106, 1.3572113513946533, 1.3096890449523926, 0.5628750920295715, -1.1066712141036987, 0.5443714261054993, 0.00047936898772604764, 0.00028762139845639467, 0.15416507422924042, -0.5998823642730713], "mean": [1.1411648988723755, -0.649943470954895, -0.2246004343032837, 1.2223918437957764, 0.09951863437891006, -0.043068092316389084, 0.3997371196746826, 1.3134024143218994, 0.27999916672706604, -0.211631178855896, 0.1611785590648651, 0.5712185502052307, 0.5955621004104614, 0.11986808478832245, 0.04158206284046173, 0.045645225793123245, 0.38434892892837524, 0.22550764679908752, 0.08081568032503128, 0.04306184872984886, 0.18935224413871765, 0.2473399043083191, 0.025699490681290627, 0.023938365280628204, 0.06242029741406441, 0.2059047371149063, 0.2389366328716278, 0.03128509223461151, 0.029275992885231972, 1.2977238893508911, -0.5882683992385864, -0.21976247429847717, 1.2606066465377808, -1.395682454109192, -0.2332567423582077, -0.00024848736939020455, 1.327165961265564, 0.09411462396383286, 0.012687447480857372, -0.10997480154037476, 0.17337089776992798, 0.8883711099624634, 0.08157259225845337, 0.16625098884105682, 0.18082070350646973, 1.1781119108200073, -0.03414619714021683, 1.1476032733917236, 0.2485940158367157, 1.2782374620437622, -0.09140582382678986, 1.2809834480285645, 0.4413474500179291, 0.03917921707034111, 1.1517478227615356, -0.11073815822601318, 0.7139415144920349, 1.2303863763809204, 0.5626980066299438, -1.1068679094314575, 0.5440670251846313, -0.0005396518390625715, 8.978815912996652e-07, 0.10166813433170319, -0.733791172504425], "std": [0.05553894117474556, 0.04716100916266441, 0.017664317041635513, 0.07085707038640976, 0.02192649431526661, 0.1520690768957138, 0.08206380158662796, 0.11679650843143463, 0.02791750431060791, 0.03545694798231125, 0.040891166776418686, 0.054184261709451675, 0.07612334191799164, 0.016647765412926674, 0.0044675422832369804, 0.00533663434907794, 0.05827579274773598, 0.032443832606077194, 0.010590991005301476, 0.0052691493183374405, 0.048305343836545944, 0.04126301407814026, 0.005153163801878691, 0.004631953779608011, 0.029385045170783997, 0.051913656294345856, 0.036588527262210846, 0.006099220365285873, 0.006689839996397495, 0.12568707764148712, 0.1804298758506775, 0.023192331194877625, 0.1983608454465866, 0.3554207682609558, 0.1866544634103775, 0.17851337790489197, 0.14969605207443237, 0.058630794286727905, 0.09964042156934738, 0.08188121765851974, 0.1197378858923912, 0.18169622123241425, 0.02464616298675537, 0.124416284263134, 0.07720386236906052, 0.19274719059467316, 0.04138711094856262, 0.23292593657970428, 0.057488564401865005, 0.21933230757713318, 0.0527690090239048, 0.2566649317741394, 0.11264994740486145, 0.018303876742720604, 0.19995923340320587, 0.05727223679423332, 0.22827865183353424, 0.24153700470924377, 4.7266872570617124e-05, 4.518792047747411e-05, 8.010306191863492e-05, 0.00028466840740293264, 1.7009304428938776e-05, 0.035081297159194946, 0.029803281649947166], "count": [2883]}, "observation.state.joint_torque": {"min": [-32.52149963378906, -3.864000082015991, -16.520000457763672, -6.064000129699707, -0.5271999835968018, -1.0432000160217285, 1.1424000263214111, -0.5425227284431458, -0.28781723976135254, -0.39890336990356445, -0.4386694133281708, -0.13116022944450378, -0.49604302644729614, -0.4317588806152344, -0.1062563955783844, -0.039956167340278625, -0.3837856948375702, -0.32333946228027344, -0.13780125975608826, -0.03139413148164749, -0.28016355633735657, -0.499880850315094, -0.10127562284469604, -0.0321076326072216, -0.10599205642938614, -0.20532533526420593, -0.45382654666900635, -0.12949997186660767, -0.0321076326072216, -0.05249999836087227, -7.683000087738037, -7.119999885559082, -7.804999828338623, -2.552799940109253, -5.519199848175049, -3.2279999256134033, -1.9892498254776, -1.037924885749817, -0.4386694133281708, -1.083625316619873, -0.15772433578968048, -1.1619112491607666, -0.9383560419082642, -0.18096791207790375, -0.0706368014216423, -1.4507099390029907, -1.8277792930603027, -1.0177370309829712, -0.1598246693611145, -1.5159534215927124, -0.9038152694702148, -0.7039486169815063, -0.08562035858631134, -0.12182490527629852, -1.6234135627746582, -0.5372999906539917, -0.5777691602706909, -0.1591111570596695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.85300064086914, 15.094499588012695, -11.1899995803833, 2.7330000400543213, 1.791200041770935, 1.031999945640564, 2.5208001136779785, 1.031557321548462, 0.2687143087387085, 0.41008755564689636, 0.36535075306892395, 0.10127562284469604, 0.4662996232509613, 0.2907176613807678, 0.08301279693841934, 0.022832093760371208, 0.3665153384208679, 0.34252873063087463, 0.17100638151168823, 0.01712406985461712, 0.32046106457710266, 0.4279210567474365, 0.12119869887828827, 0.01712406985461712, 0.060252752155065536, 0.2552174925804138, 0.393380343914032, 0.09297433495521545, 0.016410568729043007, 42.36899948120117, 10.109999656677246, 21.023000717163086, 6.9679999351501465, 0.36000001430511475, 2.9488000869750977, 3.3032000064849854, 3.118868827819824, 5.011330604553223, 2.4567973613739014, 1.4576747417449951, 0.6724037528038025, 2.1501593589782715, 0.8980584740638733, 1.0592433214187622, 0.21405088901519775, 1.2233169078826904, 0.36843428015708923, 0.6259164810180664, 0.11344698071479797, 0.7263144254684448, 0.5775974988937378, 0.6989678740501404, 0.11059295386075974, 0.12050550431013107, 0.6466789245605469, 0.36747482419013977, 0.4764934778213501, 0.07991233468055725, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.6779727935791, 1.7954018115997314, -13.260952949523926, -2.2893786430358887, 0.019435714930295944, -0.3561438024044037, 1.64451003074646, -0.0017510420875623822, -0.004349344410002232, 0.010924735106527805, -0.006494481116533279, 0.0010964734246954322, 0.013760018162429333, 0.010617638006806374, 0.0003103984345216304, 0.0002531780337449163, 0.009375964291393757, 0.0057198284193873405, 0.0001146001523011364, -1.3611261238111183e-05, 0.03743120655417442, 0.030383609235286713, 0.0012127996888011694, 0.0006402486469596624, 0.0002600999141577631, 0.019031910225749016, 0.015759071335196495, 0.0013066671090200543, 0.0007679544505663216, 27.55170440673828, 0.7155547738075256, 12.489794731140137, -1.4321519136428833, -0.5315618515014648, 1.3623671531677246, -0.7260512113571167, 0.6443583369255066, 1.8759886026382446, 0.5678181648254395, 0.19320446252822876, 0.1527668535709381, 1.266046166419983, 0.002053378615528345, 0.5576208829879761, 0.12280473858118057, -0.21341945230960846, -0.3042750358581543, -0.030011294409632683, -0.004361201077699661, -0.03324507921934128, -0.06192518770694733, -0.0002199833106715232, -0.003134422702714801, -0.0001786355278454721, -0.02824045903980732, -0.0246142465621233, -0.0170454028993845, 0.003794707590714097, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.3300331830978394, 1.0903652906417847, 0.6243826150894165, 0.6930369138717651, 0.31087052822113037, 0.39062637090682983, 0.1875665932893753, 0.04230421036481857, 0.02905568666756153, 0.07060207426548004, 0.06363409012556076, 0.00893526803702116, 0.06594693660736084, 0.04770992323756218, 0.006815994158387184, 0.004100274760276079, 0.0543685257434845, 0.04450802877545357, 0.01567089557647705, 0.003557604504749179, 0.05694013088941574, 0.06654837727546692, 0.009800578467547894, 0.00407304847612977, 0.008969301357865334, 0.035972561687231064, 0.0556960292160511, 0.009420686401426792, 0.004279492888599634, 4.933738708496094, 2.1116702556610107, 2.7499332427978516, 1.8337352275848389, 0.3372599482536316, 1.0436307191848755, 0.6858545541763306, 0.9817650318145752, 1.6089211702346802, 0.5907845497131348, 0.43481793999671936, 0.16284696757793427, 0.9925757646560669, 0.2098877727985382, 0.4638427793979645, 0.1006387248635292, 0.36551156640052795, 0.3323763310909271, 0.12603555619716644, 0.020386572927236557, 0.11147378385066986, 0.12799839675426483, 0.03595646843314171, 0.009230416268110275, 0.022366637364029884, 0.13841168582439423, 0.1127227321267128, 0.04076326638460159, 0.008412092924118042, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2883]}, "observation.state.tcp": {"min": [0.35760924220085144, 0.1675831824541092, 0.9445854425430298, -1.330344796180725, 1.1991368532180786, -1.7132513523101807, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23241712152957916, -0.27556198835372925, 0.9394932389259338, -0.9429171681404114, 1.1926027536392212, 0.22427073121070862, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4130996763706207, 0.23840650916099548, 1.0603454113006592, -1.066946029663086, 1.898382544517517, -1.2291895151138306, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47542881965637207, -0.043856922537088394, 1.1718076467514038, 1.2086565494537354, 2.01784086227417, 1.5256617069244385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39257463812828064, 0.19131477177143097, 0.9898540377616882, -1.2424896955490112, 1.6769695281982422, -1.5808054208755493, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4121524691581726, -0.1430119425058365, 1.0694656372070312, -0.32926854491233826, 1.7340139150619507, 0.6332689523696899, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.016720103099942207, 0.012924796901643276, 0.030990375205874443, 0.05916569381952286, 0.14604848623275757, 0.06905040144920349, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05888951197266579, 0.05667684227228165, 0.051108717918395996, 0.3605780005455017, 0.15947756171226501, 0.21901583671569824, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2883]}, "action": {"min": [1.0505456924438477, -0.8177545666694641, -0.22664566338062286, 1.123887300491333, 0.0004147977160755545, -0.7673869132995605, 0.27113378047943115, 0.0, 0.0, -0.2909300625324249, 0.0, 0.0, 0.0, -0.005246913060545921, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -8.424525965722296e-09, 0.0, 0.0, 0.0, 0.0, 0.899340808391571, -1.1755176782608032, -0.24277916550636292, 1.0226013660430908, -2.0087037086486816, -0.7996380925178528, -0.3218684196472168, 0.0, -0.14502757787704468, -0.23519718647003174, -0.2790776491165161, 0.0, 0.0, -0.014136260375380516, 0.0, 0.0, 0.0, -0.08367905020713806, 0.0, 0.0, 0.0, -0.13514681160449982, 0.0, 0.0, 0.0, 0.0, -0.15529218316078186, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440165400505066, -0.0010490264976397157, -0.00012074677215423435, -0.008135199546813965, -0.7822713851928711], "max": [1.248414158821106, -0.5792519450187683, -0.0012545747449621558, 1.5686349868774414, 0.2387246936559677, 0.12137711048126221, 0.6457712054252625, 1.3866547346115112, 0.2899037003517151, 0.0, 0.22098079323768616, 0.5990939736366272, 0.7111636996269226, 0.1342761367559433, 0.05476650223135948, 0.055007852613925934, 0.5029973983764648, 0.2512752115726471, 0.09595725685358047, 0.052347831428050995, 0.2571006715297699, 0.2842770218849182, 0.03744842857122421, 0.03310350701212883, 0.11121359467506409, 0.26341089606285095, 0.2707235515117645, 0.04604233801364899, 0.03872612118721008, 1.507480263710022, -0.2958791255950928, -7.158821972552687e-05, 1.7673410177230835, 0.045700669288635254, 0.10444647073745728, 0.8452439308166504, 1.4925291538238525, 0.29164034128189087, 0.3210418224334717, 0.23424577713012695, 0.567780077457428, 1.192379355430603, 0.17076309025287628, 0.5950353741645813, 0.4576282501220703, 1.5095751285552979, 0.2944749891757965, 1.3849916458129883, 0.5250719785690308, 1.5121195316314697, 0.29636886715888977, 1.5053449869155884, 0.7514448761940002, 0.1341850310564041, 1.3889862298965454, 0.29555535316467285, 1.3617802858352661, 1.3858850002288818, 0.5626999735832214, -1.106863021850586, 0.5443258881568909, 0.00042248237878084183, 0.00024325221602339298, 0.1540566235780716, -0.6000000238418579], "mean": [1.1412291526794434, -0.6500071883201599, -0.2246072143316269, 1.2224477529525757, 0.09951726347208023, -0.0432417131960392, 0.39981698989868164, 1.3174245357513428, 0.28111371397972107, -0.2119811773300171, 0.15971913933753967, 0.5761221647262573, 0.5989633798599243, 0.12218555808067322, 0.04910948872566223, 0.04963996261358261, 0.38841184973716736, 0.22762244939804077, 0.0818634107708931, 0.04633016139268875, 0.19154946506023407, 0.25229373574256897, 0.030972730368375778, 0.027692681178450584, 0.0766526386141777, 0.20783410966396332, 0.24271315336227417, 0.03584202006459236, 0.032428570091724396, 1.2994935512542725, -0.5894076824188232, -0.21977396309375763, 1.261631965637207, -1.3954710960388184, -0.23376524448394775, 0.0013199875829741359, 1.3309155702590942, 0.10185215622186661, 0.013634370639920235, -0.10958147048950195, 0.17438021302223206, 0.9216610193252563, 0.06983865797519684, 0.17490722239017487, 0.25223246216773987, 1.1760185956954956, -0.03532930091023445, 1.1457560062408447, 0.24831326305866241, 1.2758405208587646, -0.09220962971448898, 1.280105710029602, 0.4410390555858612, 0.03991830348968506, 1.1496303081512451, -0.11141935735940933, 0.7113894820213318, 1.24532151222229, 0.5627056360244751, -1.106873869895935, 0.5441189408302307, -0.0005815703771077096, 2.3283978407562245e-06, 0.10170334577560425, -0.7338235378265381], "std": [0.05556934326887131, 0.04723018780350685, 0.017711196094751358, 0.07092941552400589, 0.02188311330974102, 0.1523454785346985, 0.08214925229549408, 0.1306115835905075, 0.03022194653749466, 0.03805360198020935, 0.04321888089179993, 0.060860421508550644, 0.0770803764462471, 0.016624553129076958, 0.005753472913056612, 0.005730691831558943, 0.05912461131811142, 0.031705066561698914, 0.010044269263744354, 0.005589431617408991, 0.04915120452642441, 0.04099324718117714, 0.0060738627798855305, 0.00534488121047616, 0.03071046620607376, 0.05232737958431244, 0.03653930872678757, 0.008241573348641396, 0.006906504742801189, 0.12550124526023865, 0.1816435158252716, 0.023234829306602478, 0.19920165836811066, 0.35552504658699036, 0.18704041838645935, 0.1847926676273346, 0.15998531877994537, 0.06386324018239975, 0.09963053464889526, 0.08263847231864929, 0.12092313915491104, 0.19996938109397888, 0.029795536771416664, 0.13015320897102356, 0.13381266593933105, 0.19262796640396118, 0.04288892447948456, 0.23281119763851166, 0.05779656395316124, 0.21922823786735535, 0.05321206897497177, 0.2568582594394684, 0.11285293847322464, 0.01857411302626133, 0.1996922343969345, 0.05731760710477829, 0.2287210077047348, 0.24684371054172516, 2.2202728359843604e-05, 1.1022219950973522e-05, 4.3297750380588695e-05, 0.000291351112537086, 2.005875649047084e-05, 0.03513989970088005, 0.029872462153434753], "count": [2883]}, "observation.state.tcp_pose": {"min": [0.35760924220085144, 0.1675831824541092, 0.9445854425430298, -1.330344796180725, 1.1991368532180786, -1.7132513523101807, 0.23241712152957916, -0.27556198835372925, 0.9394932389259338, -0.9429171681404114, 1.1926027536392212, 0.22427073121070862], "max": [0.4130996763706207, 0.23840650916099548, 1.0603454113006592, -1.066946029663086, 1.898382544517517, -1.2291895151138306, 0.47542881965637207, -0.043856922537088394, 1.1718076467514038, 1.2086565494537354, 2.01784086227417, 1.5256617069244385], "mean": [0.39257463812828064, 0.19131477177143097, 0.9898540377616882, -1.2424896955490112, 1.6769695281982422, -1.5808054208755493, 0.4121524691581726, -0.1430119425058365, 1.0694656372070312, -0.32926854491233826, 1.7340139150619507, 0.6332689523696899], "std": [0.016720103099942207, 0.012924796901643276, 0.030990375205874443, 0.05916569381952286, 0.14604848623275757, 0.06905040144920349, 0.05888951197266579, 0.05667684227228165, 0.051108717918395996, 0.3605780005455017, 0.15947756171226501, 0.21901583671569824], "count": [2883]}, "action.tcp_pose": {"min": [0.3576067388057709, 0.16758419573307037, 0.94454026222229, -1.3304169178009033, 1.1990782022476196, -1.712822675704956, 0.23151850700378418, -0.2753949463367462, 0.9407607316970825, -0.943044126033783, 1.1632026433944702, 0.22442787885665894], "max": [0.4130997955799103, 0.2383810579776764, 1.0602233409881592, -1.0671571493148804, 1.8983993530273438, -1.2299635410308838, 0.47517722845077515, -0.043812695890665054, 1.1716639995574951, 1.208776831626892, 2.0178539752960205, 1.5820014476776123], "mean": [0.3925906717777252, 0.19134512543678284, 0.9898600578308105, -1.2424931526184082, 1.6767748594284058, -1.580718994140625, 0.4122784435749054, -0.14329315721988678, 1.0704585313796997, -0.3304121792316437, 1.7307931184768677, 0.633664608001709], "std": [0.016713237389922142, 0.012959044426679611, 0.031030753627419472, 0.05923657864332199, 0.14623747766017914, 0.06917329132556915, 0.058774180710315704, 0.05697375535964966, 0.051361046731472015, 0.3573448657989502, 0.16463783383369446, 0.22078464925289154], "count": [2883]}, "subtask_index": {"min": [54], "max": [2753], "mean": [2666.7370794311482], "std": [390.83086549058663], "count": [2883]}, "observation.tactile": {"min": [-0.018891312181949615, -4.235316373524256e-05, -9.239678911399096e-05, -0.0017921359976753592, -8.79154322319664e-05, -0.00037139831692911685, -0.0037979295011609793, -4.920179708278738e-05, -0.00011180520232301205, -0.000417968985857442, -2.7596890504355542e-05, -8.1198028055951e-05, -0.01846480742096901, -4.532224920694716e-05, -0.00010068807023344561, -0.0020985996816307306, -4.793189509655349e-05, -0.0003963742929045111, -0.013455729000270367, -3.465094050625339e-05, -7.48397724237293e-05, -0.0010936434846371412, -1.877060094557237e-05, -0.000294875237159431, -0.02467588149011135, -4.563183756545186e-05, -0.00010245740850223228, -0.0027424520812928677, -0.00034229937591589987, -0.00035426163231022656, -9.968890190124512, -1.5587897300720215, -8.278986933873966e-05, -0.3824442923069, -0.018801145255565643, -0.21829821169376373, -5.637718200683594, -1.2284996509552002, -0.00010454910079715773, -0.22579002380371094, -0.03290731832385063, -0.10720007866621017, -3.8679635524749756, -0.25016406178474426, -0.23729319870471954, -0.021718526259064674, -0.009498918429017067, -0.05592138320207596, -0.013847403228282928, -5.7549841585569084e-05, -0.0001296716509386897, -0.0017721554031595588, -5.5570566473761573e-05, -0.0003005245525855571, -0.2418641895055771, -4.52025888080243e-05, -0.00010158662189496681, -0.0013157179346308112, -0.00021463484154082835, -0.0035039489157497883], "max": [0.00775791984051466, 0.0322030633687973, 0.09359132498502731, 1.7542847672302742e-06, 0.0002571918012108654, 8.868869917932898e-05, 0.00035743784974329174, 0.00700805289670825, 0.020330147817730904, 1.9070071175519843e-06, 4.01571232941933e-05, 7.021387318673078e-06, 0.019441718235611916, 0.0332094244658947, 0.0945434421300888, 1.890793669190316e-06, 0.00022916527814231813, 0.00023418325872626156, 0.012682108208537102, 0.017895840108394623, 0.054389357566833496, 1.3829409226673306e-06, 0.00025896067381836474, 0.00012462236918509007, 0.030737513676285744, 0.05675709247589111, 0.15970784425735474, 1.906450165733986e-06, 0.0004218364483676851, 0.00046960028703324497, 11.783190727233887, 19.36334991455078, 20.65381622314453, 1.5147734302445315e-06, 0.0864083468914032, 0.1861131489276886, 5.8970770835876465, 14.506689071655273, 15.353793144226074, 1.985744347621221e-06, 0.017343375831842422, 0.08697454631328583, 0.01909792050719261, 3.0280699729919434, 1.2651113271713257, 0.0051805698312819, 0.0037088729441165924, 0.0002552504010964185, 0.1025032326579094, 0.03412730619311333, 0.09684152156114578, 2.3645109195058467e-06, 0.0006322007975541055, 0.001676361309364438, 0.01475776731967926, 0.04119246080517769, 0.07980551570653915, 1.8837071138477768e-06, 0.0002084060397464782, 0.00019989839347545058], "mean": [-0.0015271974261850119, 0.004439771641045809, 0.013024958781898022, -0.000271626835456118, 1.4266259313444607e-05, -3.3621843613218516e-05, 6.75664932714426e-06, 0.0004134534683544189, 0.001242151134647429, -2.3560727640870027e-05, 1.4953369600334554e-06, -7.391482768071e-07, -0.0004098121717106551, 0.0022895466536283493, 0.006717458367347717, -0.00013824502821080387, 8.594688551966101e-06, -1.3295809367264155e-05, -7.469537376891822e-05, 0.0013621413381770253, 0.003957027103751898, -5.9784586483146995e-05, 1.0880377885769121e-05, -4.828479632124072e-06, 0.0002413534530205652, 0.0009935857960954309, 0.0029482317622750998, -5.227822839515284e-05, 9.347277227789164e-06, 2.0417548967088806e-06, 4.260640621185303, 4.31537389755249, 9.374661445617676, -0.14749224483966827, 0.02175874263048172, 0.05553271248936653, -1.422074317932129, 1.3058104515075684, 6.450438976287842, -0.09440123289823532, -0.002196772024035454, -0.022119054570794106, -0.4444381892681122, 0.09418363869190216, 0.127346009016037, -0.0020802421495318413, -0.0007887305691838264, -0.006466931197792292, -0.00039407817530445755, 0.002889974508434534, 0.008478006348013878, -0.00016750470967963338, 1.4075051694817375e-05, -1.3078323718218599e-05, 9.601499186828732e-05, 0.00192762550432235, 0.005593279842287302, -0.00011609253124333918, 1.657898974372074e-05, -2.172342874473543e-06], "std": [0.0025065536610782146, 0.005943072959780693, 0.017096446827054024, 0.000381226884201169, 3.3562475437065586e-05, 5.288048123475164e-05, 0.0005374400061555207, 0.000921830884180963, 0.0026980112306773663, 5.0811137043638155e-05, 6.54618497719639e-06, 1.1989054655714426e-05, 0.002025538356974721, 0.004031912889331579, 0.01173007395118475, 0.0002517372486181557, 2.2272701244219206e-05, 4.13763482356444e-05, 0.0013627649750560522, 0.00230919080786407, 0.006710205692797899, 0.00010907751857303083, 2.082852370222099e-05, 2.6549259928287938e-05, 0.0016114835161715746, 0.003051758510991931, 0.00881643034517765, 0.00015707605052739382, 3.1285035220207646e-05, 2.406189923931379e-05, 3.89156174659729, 3.865361452102661, 7.202083110809326, 0.11861953884363174, 0.022203657776117325, 0.05876147001981735, 1.711560606956482, 2.1921095848083496, 5.226034641265869, 0.07808520644903183, 0.006812572944909334, 0.027968188747763634, 0.947593629360199, 0.24712741374969482, 0.2827504873275757, 0.004730824381113052, 0.0021085133776068687, 0.013759307563304901, 0.003183871740475297, 0.0047714621759951115, 0.013876896351575851, 0.000277579267276451, 3.2172400096897036e-05, 5.723388312617317e-05, 0.00797984004020691, 0.0034331725910305977, 0.009663817472755909, 0.00020194255921524018, 3.204336098860949e-05, 0.00011910688044736162], "count": [2883]}, "timestamp": {"min": [0.0], "max": [96.06666666666666], "mean": [48.03333333333334], "std": [27.741678765726146], "count": [2883]}, "frame_index": {"min": [0], "max": [2882], "mean": [1441.0], "std": [832.2503629717843], "count": [2883]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [2883]}, "index": {"min": [130009], "max": [132891], "mean": [131450.0], "std": [832.2503629717843], "count": [2883]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2883]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5636342763900757]], [[0.5644767880439758]], [[0.565464437007904]]], "std": [[[0.30224043130874634]], [[0.30117735266685486]], [[0.3015698492527008]]], "count": [2883]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.300195574760437]], [[0.3042518198490143]], [[0.3032713532447815]]], "std": [[[0.18098540604114532]], [[0.18206629157066345]], [[0.18298064172267914]]], "count": [2883]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30994948744773865]], [[0.31348907947540283]], [[0.3112778663635254]]], "std": [[[0.1828766167163849]], [[0.18300387263298035]], [[0.18290196359157562]]], "count": [2883]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5680285692214966]], [[0.5685440897941589]], [[0.5689374208450317]]], "std": [[[0.3082316517829895]], [[0.3075408637523651]], [[0.30823981761932373]]], "count": [2883]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6705882549285889]], [[0.6705882549285889]], [[0.6705882549285889]]], "mean": [[[0.005357789341360331]], [[0.005357789341360331]], [[0.005357789341360331]]], "std": [[[0.04660027101635933]], [[0.04660027101635933]], [[0.04660027101635933]]], "count": [2883]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4914298355579376]], [[0.4914298355579376]], [[0.4914298355579376]]], "std": [[[0.2219739407300949]], [[0.2219739407300949]], [[0.2219739407300949]]], "count": [2883]}}}
+{"episode_index": 51, "stats": {"observation.state": {"min": [1.0139977931976318, -0.7908734083175659, -0.2260783314704895, 1.0977095365524292, 0.0007160574314184487, -0.7672573924064636, 0.22418732941150665, 0.006902765482664108, -0.00022223289124667645, -0.2986883521080017, 0.00016970574506558478, 0.0035222277510911226, 0.0036586157511919737, -0.07558376342058182, 0.003483225591480732, 0.0008438337245024741, 0.00014007459685672075, -0.10593647509813309, 0.0030159116722643375, 0.0008145678439177573, -0.003123585833236575, -0.026935499161481857, 0.0026851047296077013, 0.0007981611997820437, 0.005479113664478064, -0.00293886405415833, 0.006395095493644476, 0.0022972128354012966, 0.0008411731687374413, 0.9435385465621948, -1.1749616861343384, -0.24338893592357635, 0.9264199733734131, -1.8719427585601807, -0.8478276133537292, -0.37491583824157715, 0.00556611642241478, -0.09745322912931442, -0.20363734662532806, -0.2046368420124054, 0.005258167628198862, 0.005159448366612196, -0.06716066598892212, 0.003508045105263591, 0.000766678131185472, -0.0034547599498182535, -0.10378165543079376, 0.0034527333918958902, 0.0008762036450207233, -0.001611713320016861, -0.14132943749427795, 0.003836370073258877, 0.0008487114100717008, 0.006123463157564402, -0.0019161492818966508, -0.16588066518306732, 0.00573682738468051, 0.0011138783302158117, 0.5624915957450867, -1.1070547103881836, 0.543796181678772, -0.0007669904152862728, -0.0001917476038215682, -0.02454369328916073, -0.7454187870025635], "max": [1.222786784172058, -0.6202796697616577, -0.002427284838631749, 1.5675331354141235, 0.1963876634836197, 0.0851835161447525, 0.625686526298523, 1.4445008039474487, 0.29008471965789795, -0.0035200705751776695, 0.23488426208496094, 0.7364965677261353, 0.7992851734161377, 0.1697373241186142, 0.05702789127826691, 0.05500084534287453, 0.674079954624176, 0.26452621817588806, 0.09632515907287598, 0.05489131808280945, 0.30783793330192566, 0.28431302309036255, 0.034036263823509216, 0.032762300223112106, 0.21739740669727325, 0.36532753705978394, 0.2767176032066345, 0.07903560996055603, 0.04936893284320831, 1.5622577667236328, -0.33224785327911377, -0.0019915385637432337, 1.8542394638061523, 0.05056168511509895, 0.0002133192028850317, 0.6981593370437622, 1.4884475469589233, 0.2811608910560608, 0.36232632398605347, 0.18260766565799713, 0.44510191679000854, 1.0988128185272217, 0.1291162371635437, 0.556468665599823, 0.46115803718566895, 1.459319829940796, 0.2565203905105591, 1.245985984802246, 0.4406927227973938, 1.4612009525299072, 0.28131207823753357, 1.3998717069625854, 0.6542052626609802, 0.24973368644714355, 1.3238998651504517, 0.29084524512290955, 1.318943738937378, 1.3108171224594116, 0.5631626844406128, -1.106479525566101, 0.5444673299789429, 0.00047936898772604764, 9.58738019107841e-05, 0.10546118021011353, -0.5653678178787231], "mean": [1.1247661113739014, -0.6565484404563904, -0.22411036491394043, 1.1899964809417725, 0.04383562132716179, -0.10060372948646545, 0.3558221757411957, 1.4043216705322266, 0.2821599245071411, -0.16739892959594727, 0.17940834164619446, 0.7279947996139526, 0.7759125232696533, 0.16105583310127258, 0.05593891814351082, 0.05343799293041229, 0.6410120725631714, 0.25255417823791504, 0.07901472598314285, 0.05299094691872597, 0.2789553701877594, 0.26480966806411743, 0.03296332061290741, 0.03028445690870285, 0.13022364675998688, 0.33484163880348206, 0.25651001930236816, 0.047749146819114685, 0.04201856255531311, 1.2412842512130737, -0.6109269261360168, -0.22107291221618652, 1.2602713108062744, -1.1855828762054443, -0.32797059416770935, 0.09862924367189407, 1.3097432851791382, 0.07821732014417648, 0.047111328691244125, -0.058282677084207535, 0.1605314463376999, 0.8355464339256287, 0.0618281215429306, 0.28461897373199463, 0.18429313600063324, 1.2233774662017822, -0.050698038190603256, 1.069269061088562, 0.2680840492248535, 1.3080743551254272, -0.10527298599481583, 1.2376158237457275, 0.3691100776195526, 0.03809282183647156, 1.1922708749771118, -0.12141731381416321, 0.6587331295013428, 1.2258532047271729, 0.56269770860672, -1.1068669557571411, 0.5441046357154846, -0.00024113961262628436, 5.484379812514817e-07, 0.06477750092744827, -0.682073712348938], "std": [0.06327801197767258, 0.034321680665016174, 0.016864774748682976, 0.07230174541473389, 0.013766768388450146, 0.11668843775987625, 0.06321749091148376, 0.11895418167114258, 0.02770284377038479, 0.03769659623503685, 0.01666109263896942, 0.06535784155130386, 0.09552966058254242, 0.023292100057005882, 0.006287410855293274, 0.006077991798520088, 0.096538245677948, 0.03771660849452019, 0.010233650915324688, 0.007027235347777605, 0.047607745975255966, 0.0375041589140892, 0.004958223085850477, 0.004792389925569296, 0.014660627581179142, 0.056282225996255875, 0.02962736412882805, 0.0075231450609862804, 0.00685766339302063, 0.1292990744113922, 0.16315382719039917, 0.021915428340435028, 0.20049989223480225, 0.5094707012176514, 0.1443576067686081, 0.2527015209197998, 0.1379033923149109, 0.07428621500730515, 0.11736351996660233, 0.06116342544555664, 0.12651242315769196, 0.17506137490272522, 0.035704582929611206, 0.15995821356773376, 0.11869017034769058, 0.19949154555797577, 0.039511535316705704, 0.20700198411941528, 0.056215863674879074, 0.22528961300849915, 0.05583049729466438, 0.2394571751356125, 0.12082205712795258, 0.029171302914619446, 0.2074493169784546, 0.06424962729215622, 0.25187429785728455, 0.2384275197982788, 5.960068665444851e-05, 5.7967477914644405e-05, 7.118915527826175e-05, 0.0003460648003965616, 1.7189015125040896e-05, 0.025815602391958237, 0.03659500181674957], "count": [2797]}, "observation.state.joint_torque": {"min": [-33.10200119018555, -12.618000030517578, -16.23699951171875, -11.652000427246094, -0.3776000142097473, -1.8392000198364258, -5.3480000495910645, -0.5718138813972473, -0.3196554183959961, -0.390204519033432, -0.41008755564689636, -0.14444229006767273, -0.7042467594146729, -0.6294085383415222, -0.10957689583301544, -0.04066966846585274, -0.619813859462738, -0.5027592778205872, -0.15440380573272705, -0.03139413148164749, -0.47397536039352417, -0.5814353227615356, -0.09131408482789993, -0.03424813970923424, -0.4908180236816406, -1.2022087574005127, -0.6409220695495605, -0.5146793723106384, -0.10631193965673447, 5.281499862670898, -8.8725004196167, -4.428999900817871, -9.281000137329102, -2.169600009918213, -5.1479997634887695, -3.3447999954223633, -1.8695383071899414, -0.950051486492157, -0.3603799641132355, -0.6834792494773865, -0.2042115032672882, -0.6255707144737244, -0.9316397905349731, -0.2639807164669037, -0.07135029137134552, -0.9239640831947327, -1.0745999813079834, -0.5661473274230957, -0.16053816676139832, -0.7416658401489258, -0.8270581364631653, -0.5445640087127686, -0.057793740183115005, -0.161407008767128, -0.4826105237007141, -0.4567050039768219, -0.35861530900001526, -0.10916595906019211, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-4.741499900817871, 15.202500343322754, 1.8539999723434448, 3.1010000705718994, 1.5928000211715698, 1.9471999406814575, 2.5327999591827393, 1.059574842453003, 0.26234668493270874, 0.37653493881225586, 0.29700279235839844, 0.11787818372249603, 0.41065070033073425, 0.2868798077106476, 0.0796922892332077, 0.02354559674859047, 0.4020155072212219, 0.34924498200416565, 0.13116022944450378, 0.014270060695707798, 0.35404232144355774, 0.4567049741744995, 0.11123716086149216, 0.025686107575893402, 0.05057712271809578, 0.5085160136222839, 2.036942481994629, 0.4316665828227997, 0.13556556403636932, 44.499000549316406, 9.769499778747559, 20.10300064086914, 4.2870001792907715, 0.6399999856948853, 3.346400022506714, 2.5768001079559326, 2.669313907623291, 5.029160022735596, 2.7798967361450195, 1.6241952180862427, 0.9662690162658691, 2.15207839012146, 1.0784378051757812, 1.0592433214187622, 0.2161913961172104, 0.7656524777412415, 0.34252873063087463, 0.167685866355896, 0.027826614677906036, 0.6303679943084717, 0.4020155072212219, 0.18428844213485718, 0.03424813970923424, 0.3373274505138397, 0.7790849804878235, 0.4432724714279175, 0.5395832657814026, 0.033534638583660126, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.66457176208496, 2.004288673400879, -12.194247245788574, -2.18426513671875, 0.15344339609146118, -0.20860646665096283, 1.2738286256790161, 0.0005837114877067506, -0.0019114309689030051, 0.025413259863853455, 0.0029612197540700436, 0.0006968695670366287, 0.0028547418769448996, 0.005616824142634869, 8.07269461802207e-05, 3.239739817217924e-05, -0.004077974706888199, 0.003801489481702447, -0.001221597078256309, 2.041026164079085e-06, 0.011716283857822418, 0.01397003885358572, 6.351269985316321e-05, 0.00015178169996943325, -0.0388188511133194, -0.029610304161906242, 0.11425645649433136, -0.012152460403740406, -0.0018604133510962129, 26.76597785949707, 1.272579550743103, 12.139440536499023, -1.6981366872787476, -0.508103609085083, 1.220326542854309, -0.9953184723854065, 0.5278080105781555, 2.231804847717285, 0.6028743386268616, 0.23887820541858673, 0.2138044238090515, 1.3307886123657227, -0.09696205705404282, 0.6166123747825623, 0.13123242557048798, -0.07536410540342331, -0.11691299825906754, -0.015589907765388489, -0.003968778066337109, -0.006635299883782864, -0.03155731037259102, -0.000508107477799058, -0.0017239381559193134, 0.001066087745130062, -0.015067058615386486, -0.008786800317466259, -0.019263001158833504, 0.002899425569921732, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [3.7580952644348145, 1.3232594728469849, 2.6601943969726562, 0.9554017782211304, 0.2705625295639038, 0.40836387872695923, 1.190981149673462, 0.041165076196193695, 0.021848009899258614, 0.052435874938964844, 0.04997282102704048, 0.008743085898458958, 0.050145965069532394, 0.039801910519599915, 0.00687681557610631, 0.0033506101462990046, 0.04844328388571739, 0.04027896746993065, 0.013644445687532425, 0.0028957959730178118, 0.04377451539039612, 0.05515512079000473, 0.0058363969437778, 0.0035387948155403137, 0.11947287619113922, 0.15926600992679596, 0.36795857548713684, 0.05242834612727165, 0.013558994978666306, 4.623202323913574, 2.0604872703552246, 2.7088773250579834, 1.7617701292037964, 0.33546000719070435, 0.9702874422073364, 0.8235207200050354, 0.7177904844284058, 1.8782740831375122, 0.659426212310791, 0.3669137954711914, 0.19862204790115356, 0.9486860632896423, 0.25239619612693787, 0.45372721552848816, 0.09606533497571945, 0.17727181315422058, 0.17484112083911896, 0.07254552096128464, 0.018341736868023872, 0.08499165624380112, 0.0958867073059082, 0.03191572055220604, 0.008915899321436882, 0.032807737588882446, 0.12997393310070038, 0.09817951917648315, 0.03878583759069443, 0.011239653453230858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2797]}, "observation.state.tcp": {"min": [0.36207351088523865, 0.1880992352962494, 0.9171288013458252, -1.3494518995285034, 1.2185237407684326, -1.5249168872833252, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23434309661388397, -0.26674795150756836, 0.9377918243408203, -0.9855578541755676, 1.2175836563110352, 0.32269927859306335, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.417273610830307, 0.2292199730873108, 1.051355004310608, -1.0698864459991455, 1.975701093673706, -1.2303004264831543, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4664017856121063, -0.05041932687163353, 1.1901373863220215, 1.2087844610214233, 1.9465656280517578, 1.5492453575134277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39400583505630493, 0.20774994790554047, 0.9770423173904419, -1.2301560640335083, 1.710260272026062, -1.4392801523208618, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40319880843162537, -0.1574791967868805, 1.0473582744598389, -0.09599566459655762, 1.6683138608932495, 0.7796812653541565, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.015467437915503979, 0.006707586348056793, 0.03605596721172333, 0.06939660757780075, 0.12981751561164856, 0.028332389891147614, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05333445966243744, 0.05453404784202576, 0.05556074157357216, 0.4951483905315399, 0.13348136842250824, 0.2746897041797638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2797]}, "action": {"min": [1.014018177986145, -0.7911484837532043, -0.22607041895389557, 1.0976873636245728, 0.00021300149091985077, -0.7661483287811279, 0.22416958212852478, 0.0, 0.0, -0.29980817437171936, 0.0, 0.0, 0.0, -0.08121442794799805, 0.0, 0.0, 0.0, -0.1141277626156807, 0.0, 0.0, 0.0, -0.09773436933755875, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9435200095176697, -1.177056908607483, -0.24338369071483612, 0.9262518882751465, -1.8719359636306763, -0.8481457233428955, -0.37488582730293274, 0.0, -0.10301523655653, -0.20423318445682526, -0.1989886462688446, 0.0, 0.0, -0.06536368280649185, 0.0, 0.0, 0.0, -0.11108579486608505, 0.0, 0.0, 0.0, -0.14247675240039825, 0.0, 0.0, -8.712504495633766e-09, 0.0, -0.16253623366355896, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440528392791748, -0.0007901500212028623, -8.625579357612878e-05, -0.024370398372411728, -0.7455819845199585], "max": [1.2227827310562134, -0.6202582120895386, -0.0018256683833897114, 1.5682414770126343, 0.1963696926832199, 0.0851668119430542, 0.6257737278938293, 1.4548312425613403, 0.28933635354042053, 0.0, 0.23973320424556732, 0.7454325556755066, 0.8072168827056885, 0.16919861733913422, 0.06323352456092834, 0.058704715222120285, 0.6832395792007446, 0.26515546441078186, 0.10363387316465378, 0.05915992707014084, 0.31173861026763916, 0.2858882248401642, 0.03991212323307991, 0.03612856566905975, 0.24420826137065887, 0.3629627823829651, 0.2764284312725067, 0.08409929275512695, 0.046971291303634644, 1.5622525215148926, -0.3322646915912628, -0.0014953053323552012, 1.8547401428222656, 0.05072095990180969, 0.0003545820654835552, 0.90816730260849, 1.4974969625473022, 0.2878480553627014, 0.3639640212059021, 0.19308532774448395, 0.4493038058280945, 1.2290070056915283, 0.13093018531799316, 0.6055288314819336, 0.5697378516197205, 1.5015535354614258, 0.2591056823730469, 1.2515074014663696, 0.4673079550266266, 1.506874680519104, 0.28526195883750916, 1.4049519300460815, 0.6558273434638977, 0.26179584860801697, 1.3274602890014648, 0.2912014424800873, 1.325634241104126, 1.3843201398849487, 0.5626999735832214, -1.106863021850586, 0.5443077683448792, 0.0004226916062179953, 0.00022811371309217066, 0.10557156801223755, -0.565341055393219], "mean": [1.1248234510421753, -0.6565847396850586, -0.22412852942943573, 1.1900110244750977, 0.04381295666098595, -0.10075031965970993, 0.3558991849422455, 1.4137810468673706, 0.28192010521888733, -0.1643465906381607, 0.18068352341651917, 0.7339767813682556, 0.7775061726570129, 0.1620071530342102, 0.06090015545487404, 0.056930530816316605, 0.6412901878356934, 0.25310081243515015, 0.07762335985898972, 0.056570082902908325, 0.28203052282333374, 0.267130047082901, 0.0374385304749012, 0.03385567292571068, 0.1239888146519661, 0.34074240922927856, 0.25862669944763184, 0.04995480552315712, 0.04464050754904747, 1.242716908454895, -0.6117040514945984, -0.22108620405197144, 1.2610127925872803, -1.1878858804702759, -0.32837897539138794, 0.10098882764577866, 1.314975380897522, 0.08930978178977966, 0.047727104276418686, -0.05747075751423836, 0.1619935929775238, 0.8825761079788208, 0.052633658051490784, 0.3022206425666809, 0.2587246298789978, 1.2216249704360962, -0.05079072713851929, 1.0687212944030762, 0.26787638664245605, 1.3063822984695435, -0.10545509308576584, 1.2371453046798706, 0.36884114146232605, 0.03641676530241966, 1.190543293952942, -0.12191154807806015, 0.6561557650566101, 1.2382056713104248, 0.5627044439315796, -1.1068720817565918, 0.5441555976867676, -0.00025979147176258266, 1.2812364502678975e-06, 0.06480802595615387, -0.6821111440658569], "std": [0.06329923868179321, 0.034380387514829636, 0.01684228517115116, 0.07228582352399826, 0.013685883022844791, 0.11695558577775955, 0.06327935308218002, 0.13661915063858032, 0.02991795912384987, 0.04038885235786438, 0.019957641139626503, 0.07448742538690567, 0.09691404551267624, 0.021783843636512756, 0.007184387184679508, 0.00659162225201726, 0.09650030732154846, 0.035005729645490646, 0.010036143474280834, 0.00738079659640789, 0.04810837656259537, 0.036520637571811676, 0.006113534327596426, 0.005549462046474218, 0.016058217734098434, 0.056903962045907974, 0.030004527419805527, 0.008222579956054688, 0.007211403921246529, 0.12970463931560516, 0.16411323845386505, 0.0219253022223711, 0.20136748254299164, 0.5083184242248535, 0.1447387933731079, 0.2596524655818939, 0.15134170651435852, 0.08191747218370438, 0.11679767817258835, 0.06143813580274582, 0.1277981996536255, 0.1989070028066635, 0.025090493261814117, 0.17086876928806305, 0.15498989820480347, 0.19894593954086304, 0.04021558165550232, 0.20703929662704468, 0.056514840573072433, 0.22480200231075287, 0.05590927600860596, 0.23980094492435455, 0.12102475762367249, 0.03330998122692108, 0.20705954730510712, 0.06440063565969467, 0.2523224949836731, 0.24342282116413116, 2.1009795091231354e-05, 9.366653102915734e-06, 3.023427962034475e-05, 0.00037527651875279844, 1.7706237485981546e-05, 0.025858351960778236, 0.036685362458229065], "count": [2797]}, "observation.state.tcp_pose": {"min": [0.36207351088523865, 0.1880992352962494, 0.9171288013458252, -1.3494518995285034, 1.2185237407684326, -1.5249168872833252, 0.23434309661388397, -0.26674795150756836, 0.9377918243408203, -0.9855578541755676, 1.2175836563110352, 0.32269927859306335], "max": [0.417273610830307, 0.2292199730873108, 1.051355004310608, -1.0698864459991455, 1.975701093673706, -1.2303004264831543, 0.4664017856121063, -0.05041932687163353, 1.1901373863220215, 1.2087844610214233, 1.9465656280517578, 1.5492453575134277], "mean": [0.39400583505630493, 0.20774994790554047, 0.9770423173904419, -1.2301560640335083, 1.710260272026062, -1.4392801523208618, 0.40319880843162537, -0.1574791967868805, 1.0473582744598389, -0.09599566459655762, 1.6683138608932495, 0.7796812653541565], "std": [0.015467437915503979, 0.006707586348056793, 0.03605596721172333, 0.06939660757780075, 0.12981751561164856, 0.028332389891147614, 0.05333445966243744, 0.05453404784202576, 0.05556074157357216, 0.4951483905315399, 0.13348136842250824, 0.2746897041797638], "count": [2797]}, "action.tcp_pose": {"min": [0.36190637946128845, 0.18781417608261108, 0.9170566201210022, -1.3496397733688354, 1.2196540832519531, -1.5227075815200806, 0.2336498200893402, -0.26666155457496643, 0.9389464259147644, -0.986686646938324, 1.1819350719451904, 0.3230557143688202], "max": [0.4172859489917755, 0.2292083203792572, 1.0513259172439575, -1.0712474584579468, 1.975628137588501, -1.2309478521347046, 0.46597394347190857, -0.050504621118307114, 1.1898975372314453, 1.2076863050460815, 1.9466243982315063, 1.5887616872787476], "mean": [0.3940257430076599, 0.20777465403079987, 0.9770386219024658, -1.2301150560379028, 1.710119605064392, -1.4391772747039795, 0.4032737910747528, -0.15761323273181915, 1.0482765436172485, -0.1002391129732132, 1.664345622062683, 0.7800121307373047], "std": [0.015463162213563919, 0.00672002462670207, 0.03607284650206566, 0.06946729123592377, 0.1299525946378708, 0.028538918122649193, 0.053352806717157364, 0.054659660905599594, 0.055841051042079926, 0.4904727041721344, 0.14009864628314972, 0.27785834670066833], "count": [2797]}, "subtask_index": {"min": [54], "max": [2821], "mean": [2744.2542009295676], "std": [370.793221689708], "count": [2797]}, "observation.tactile": {"min": [-0.013452023267745972, -4.292262747185305e-05, -9.42339320317842e-05, -0.0013653244823217392, -0.00016730134666431695, -0.0002657575241755694, -0.006339966785162687, -5.056125155533664e-05, -0.00011614940740400925, -0.0005501043633557856, -8.847631397657096e-05, -0.00011971882486250252, -0.01120814960449934, -4.564829578157514e-05, -0.00010139602090930566, -0.0008043023990467191, -6.821472197771072e-05, -0.00021944372565485537, -0.9604710340499878, -3.373102663317695e-05, -7.42645061109215e-05, -0.003285893239080906, -8.513033390045166e-05, -0.010717798955738544, -1.9483799934387207, -5.0602124247234315e-05, -0.00011277601879555732, -0.04030783846974373, -0.006418713368475437, -0.03643627092242241, -2.7998244762420654, -0.49837252497673035, -9.730923193274066e-05, -0.5143002271652222, -0.011804332956671715, -0.10659794509410858, -8.86479663848877, -0.7273060083389282, -0.00010074929741676897, -0.36293140053749084, -0.05368818715214729, -0.1488652527332306, -4.681430339813232, -4.6973575081210583e-05, -0.00010373554687248543, -0.01767347753047943, -0.009210139513015747, -0.061949118971824646, -0.016922855749726295, -5.587013583863154e-05, -0.00012672095908783376, -0.002099512843415141, -6.655546894762665e-05, -0.000390373810660094, -0.20630943775177002, -4.288680065656081e-05, -9.568908717483282e-05, -0.0014771363930776715, -0.000158605573233217, -0.0031920988112688065], "max": [0.013460302725434303, 0.02559848688542843, 0.07157757133245468, 1.7663960534264334e-06, 0.00025390583323314786, 0.00020440916705410928, 0.0013259125407785177, 0.009897449985146523, 0.028786564245820045, 2.026868060056586e-06, 9.877247066469863e-05, 7.3084625000774395e-06, 0.0024160805623978376, 0.01427805982530117, 0.04166826233267784, 1.8910193375631934e-06, 0.00010158944496652111, 1.39842140924884e-05, 0.0002828751166816801, 0.10752726346254349, 0.30281686782836914, 1.366879132547183e-06, 0.0020492728799581528, 5.42717907592305e-06, 0.0019797550048679113, 2.5007920265197754, 1.8479971885681152, 2.0971885987819405e-06, 0.0001483533123973757, 8.096920282696374e-06, 17.810352325439453, 17.358943939208984, 26.472631454467773, 0.0036942684091627598, 0.09669113904237747, 0.28925368189811707, 13.57223892211914, 32.0230827331543, 25.316761016845703, 1.8855321286537219e-06, 0.035240788012742996, 0.2386043667793274, 0.01708664745092392, 1.3262913227081299, 1.155550241470337, 1.915355369419558e-06, 0.004454636014997959, 0.00023098445672076195, 0.20558126270771027, 0.04107043892145157, 0.12909191846847534, 2.291411419719225e-06, 0.0007248784531839192, 0.003210984403267503, 0.018368147313594818, 0.025066355243325233, 0.0676082894206047, 1.810967773963057e-06, 0.00021815848594997078, 0.0003969486278947443], "mean": [-0.0006039197323843837, 0.0022075928281992674, 0.006441239267587662, -0.00010735358227975667, 6.430178018490551e-06, -1.282205994357355e-05, 0.00020873005269095302, 0.00016605565906502306, 0.0005159511347301304, -9.489751391811296e-06, -8.389806112063525e-07, 3.9622068470634986e-06, 0.00014792103320360184, 0.00028443100745789707, 0.0008161651785485446, -1.2823248653148767e-05, -2.4194243906094925e-06, 4.390234153106576e-06, -0.0024542207829654217, 0.0008058369858190417, 0.0021769606973975897, -3.525352440192364e-05, 4.917539172311081e-06, -2.8056223527528346e-05, -0.06052757799625397, 0.024105755612254143, 0.03804291784763336, -0.0008179299184121192, -0.00020826926629524678, -0.0011451392201706767, 4.738876819610596, 4.231886386871338, 10.563557624816895, -0.18622441589832306, 0.02432771772146225, 0.07623502612113953, -2.2712199687957764, 3.0000059604644775, 10.479361534118652, -0.15794777870178223, -0.004794685635715723, -0.03361302241683006, -0.16020913422107697, 0.03749135881662369, 0.05453343316912651, -0.0009360500844195485, -0.0002486851590219885, -0.0022921571508049965, -0.0016425506910309196, 0.006625674199312925, 0.019496023654937744, -0.00040276945219375193, 2.4962313545984216e-05, -4.452516805031337e-05, -3.2342522899853066e-05, 0.0038714506663382053, 0.011208774521946907, -0.0002357957564527169, 3.164337977068499e-05, -9.710253834782634e-06], "std": [0.0014869485748931766, 0.0033210741821676493, 0.009535814635455608, 0.00017962208949029446, 3.437305349507369e-05, 3.127958916593343e-05, 0.0004742841119877994, 0.0007971273735165596, 0.002321838401257992, 4.2454605136299506e-05, 5.887835413886933e-06, 9.724886695039459e-06, 0.0006198420305736363, 0.0010087352711707354, 0.002891745651140809, 5.201603198656812e-05, 8.419036930717994e-06, 1.0158509212487843e-05, 0.03806375339627266, 0.004709139000624418, 0.011081752367317677, 0.00014655294944532216, 8.16494575701654e-05, 0.00041296693962067366, 0.2134052813053131, 0.1256895363330841, 0.14442256093025208, 0.0031225173734128475, 0.0007383760530501604, 0.003965441603213549, 4.058671951293945, 3.6204309463500977, 7.287226676940918, 0.13295307755470276, 0.024333275854587555, 0.0729542151093483, 2.957855224609375, 3.6763110160827637, 7.1211771965026855, 0.11102534830570221, 0.014730094000697136, 0.04790067300200462, 0.5941624641418457, 0.13384579122066498, 0.15973243117332458, 0.0026964100543409586, 0.0013266955502331257, 0.008455075323581696, 0.007902181707322598, 0.006794633809477091, 0.01983638107776642, 0.00040694294148124754, 4.596684448188171e-05, 0.00013034539006184787, 0.004253150429576635, 0.00471607455983758, 0.013565773144364357, 0.0002987381012644619, 4.23272795160301e-05, 7.005062070675194e-05], "count": [2797]}, "timestamp": {"min": [0.0], "max": [93.2], "mean": [46.6], "std": [26.914143328575612], "count": [2797]}, "frame_index": {"min": [0], "max": [2796], "mean": [1398.0], "std": [807.4242998572684], "count": [2797]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [2797]}, "index": {"min": [132892], "max": [135688], "mean": [134290.0], "std": [807.4242998572684], "count": [2797]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2797]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5549313426017761]], [[0.5553402900695801]], [[0.5563387274742126]]], "std": [[[0.29616275429725647]], [[0.29540324211120605]], [[0.29619017243385315]]], "count": [2797]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3007292151451111]], [[0.30459490418434143]], [[0.3036077320575714]]], "std": [[[0.18143455684185028]], [[0.18236495554447174]], [[0.18314649164676666]]], "count": [2797]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30979952216148376]], [[0.3132210671901703]], [[0.3104776442050934]]], "std": [[[0.18361273407936096]], [[0.18322278559207916]], [[0.18280909955501556]]], "count": [2797]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5589653849601746]], [[0.5590583682060242]], [[0.5595691800117493]]], "std": [[[0.301731139421463]], [[0.30136215686798096]], [[0.3023902475833893]]], "count": [2797]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7490196228027344]], [[0.7490196228027344]], [[0.7490196228027344]]], "mean": [[[0.006124458741396666]], [[0.006124458741396666]], [[0.006124458741396666]]], "std": [[[0.051047563552856445]], [[0.051047563552856445]], [[0.051047563552856445]]], "count": [2797]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49101385474205017]], [[0.49101385474205017]], [[0.49101385474205017]]], "std": [[[0.2218758910894394]], [[0.2218758910894394]], [[0.2218758910894394]]], "count": [2797]}}}
+{"episode_index": 52, "stats": {"observation.state": {"min": [1.050166368484497, -0.8016073107719421, -0.22607678174972534, 1.1281158924102783, -0.08985161036252975, -0.768958330154419, 0.1733843982219696, 0.006885600741952658, -0.00020326176309026778, -0.2836788594722748, 0.00014489390014205128, 0.0035346371587365866, 0.003687563119456172, -0.05549547076225281, 0.0034662066027522087, 0.0008456074283458292, 0.001781717175617814, -0.05413004755973816, 0.0030499498825520277, 0.0008487114100717008, -0.003145418595522642, -0.026921270415186882, 0.0027127605862915516, 0.0008225494530051947, 0.005647158250212669, -0.0021526312921196222, -0.025984905660152435, 0.002427337458357215, 0.000848267984110862, 0.8883517384529114, -1.1474391222000122, -0.24182331562042236, 1.0170700550079346, -1.776025652885437, -0.8257319927215576, -0.31334158778190613, 0.005639652255922556, -0.09473678469657898, -0.22399599850177765, -0.1763639748096466, 0.0032584327273070812, 0.005303938407450914, -0.0054697683081030846, 0.0035101724788546562, 0.0009045827318914235, 0.005322091281414032, -0.09479165822267532, 0.003464433830231428, 0.0008717693854123354, -2.1832907805219293e-05, -0.15543252229690552, 0.003944866359233856, 0.0013679596595466137, 0.0075181275606155396, 5.544092709897086e-05, -0.17862530052661896, 0.005508488975465298, 0.000848267984110862, 0.5625874400138855, -1.1069588661193848, 0.543796181678772, -0.000862864195369184, -9.58738019107841e-05, -0.0001917476038215682, -0.757115364074707], "max": [1.2107795476913452, -0.6347420811653137, -0.00047793088015168905, 1.56952702999115, 0.14717358350753784, 0.103946253657341, 0.5904450416564941, 1.433156132698059, 0.28403398394584656, -0.0035346546210348606, 0.2817476987838745, 0.8799034357070923, 0.7604666352272034, 0.16283686459064484, 0.05330037325620651, 0.054934773594141006, 0.5848749279975891, 0.2772153317928314, 0.07267440110445023, 0.050051361322402954, 0.27928704023361206, 0.2896701693534851, 0.03398733586072922, 0.031597428023815155, 0.2411281019449234, 0.2081407606601715, 0.2768775522708893, 0.029809873551130295, 0.03129279613494873, 1.4529303312301636, -0.31215882301330566, -0.0003588077088352293, 1.80980384349823, 5.824333129567094e-05, -0.1573072224855423, 0.6981449723243713, 1.4002835750579834, 0.28491392731666565, 0.3128529489040375, 0.1784716546535492, 0.46787336468696594, 1.0191364288330078, 0.16578111052513123, 0.5661741495132446, 0.34424468874931335, 1.4442448616027832, 0.26477497816085815, 1.3363280296325684, 0.4173642694950104, 1.4258006811141968, 0.2734377384185791, 1.4484992027282715, 0.7377603054046631, 0.1486949473619461, 1.3561151027679443, 0.283123254776001, 1.4205989837646484, 1.3093372583389282, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.0003834952076431364, 9.58738019107841e-05, 0.13220997154712677, -0.5998823642730713], "mean": [1.147491216659546, -0.6894736886024475, -0.22297760844230652, 1.2287088632583618, 0.12045948952436447, -0.05474162846803665, 0.3218732178211212, 1.4095027446746826, 0.2711811363697052, -0.1916358321905136, 0.2545616626739502, 0.8582672476768494, 0.6596272587776184, 0.14254336059093475, 0.04838505759835243, 0.05045042932033539, 0.4000057280063629, 0.244813933968544, 0.06793314218521118, 0.042028509080410004, 0.14709478616714478, 0.2523455023765564, 0.024085933342576027, 0.021022990345954895, 0.07609879225492477, 0.11216562241315842, 0.2522954046726227, 0.016774367541074753, 0.01767214760184288, 1.234882116317749, -0.6225777268409729, -0.2180205136537552, 1.3023958206176758, -1.2444461584091187, -0.3728533685207367, 0.039091866463422775, 1.2807236909866333, 0.09991314262151718, 0.007286230567842722, -0.06497067213058472, 0.1446872502565384, 0.8436808586120605, 0.07863419502973557, 0.26718831062316895, 0.16980300843715668, 1.2175036668777466, -0.048223767429590225, 1.114892840385437, 0.2529609799385071, 1.3215348720550537, -0.10507013648748398, 1.2270426750183105, 0.4714752733707428, 0.04302786663174629, 1.2343169450759888, -0.12382446229457855, 0.8866092562675476, 1.2463935613632202, 0.5626890659332275, -1.1068493127822876, 0.5440773963928223, -0.00045642582699656487, 4.515956675277266e-08, 0.09355331212282181, -0.7174050211906433], "std": [0.04900920018553734, 0.04007117822766304, 0.022113235667347908, 0.08794938027858734, 0.06560541689395905, 0.12837621569633484, 0.09572463482618332, 0.1402246356010437, 0.03016178123652935, 0.029715975746512413, 0.028404805809259415, 0.09327105432748795, 0.0916263610124588, 0.024792321026325226, 0.0067353700287640095, 0.006554001476615667, 0.10967990010976791, 0.041955482214689255, 0.010327283293008804, 0.0074763912707567215, 0.059875890612602234, 0.04409443587064743, 0.007050775457173586, 0.006370955146849155, 0.028136257082223892, 0.04479285329580307, 0.038091182708740234, 0.006490717642009258, 0.0065779853612184525, 0.119015634059906, 0.16535069048404694, 0.023925982415676117, 0.19056053459644318, 0.32466769218444824, 0.1229209303855896, 0.18322332203388214, 0.15418238937854767, 0.052659980952739716, 0.0718768835067749, 0.05937943607568741, 0.07573278248310089, 0.1540430784225464, 0.026859859004616737, 0.11991916596889496, 0.08652764558792114, 0.21306660771369934, 0.04309995099902153, 0.24790647625923157, 0.05731890723109245, 0.25026240944862366, 0.059169068932533264, 0.2675289809703827, 0.13199149072170258, 0.011017881333827972, 0.23835501074790955, 0.06520429253578186, 0.2479173243045807, 0.26070860028266907, 2.6533680284046568e-05, 3.843531885650009e-05, 4.80944145238027e-05, 0.00015710093430243433, 9.978842172131408e-06, 0.02438083104789257, 0.023602398112416267], "count": [2123]}, "observation.state.joint_torque": {"min": [-31.49250030517578, -6.995999813079834, -16.027999877929688, -8.633000373840332, -0.42080000042915344, -1.1895999908447266, 1.1311999559402466, -1.5333271026611328, -0.3336641788482666, -0.42499983310699463, -0.3293127417564392, -0.12285894900560379, -0.42312371730804443, -0.5382594466209412, -0.08965382725000381, -0.038529157638549805, -0.4307994246482849, -0.36555588245391846, -0.1328205019235611, -0.03139413148164749, -0.3434881865978241, -0.42312371730804443, -0.04316665604710579, -0.03068062849342823, -0.10467266291379929, -0.25425803661346436, -0.4403941035270691, -0.12617947161197662, -0.032821137458086014, 6.523499965667725, -5.04449987411499, 2.1559998989105225, -8.645999908447266, -2.1784000396728516, -1.6232000589370728, -3.113600015640259, -1.3028185367584229, -0.7679371237754822, -0.3392542600631714, -0.8686400055885315, -0.167685866355896, -0.857761025428772, -1.0295051336288452, -0.3121281564235687, -0.08562035858631134, -0.8021121025085449, -0.955626368522644, -0.1959102302789688, -0.03139413148164749, -0.3626774847507477, -0.32525837421417236, -0.2556794285774231, -0.033534638583660126, -0.129301518201828, -0.6370842456817627, -0.4096912443637848, -0.44494864344596863, -0.0321076326072216, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.186500549316406, 18.70949935913086, -11.392999649047852, 5.965000152587891, 1.399999976158142, 1.7776000499725342, 2.3287999629974365, 0.23178201913833618, 0.23178201913833618, 0.3230993151664734, 0.4510963261127472, 0.08633331209421158, 0.3530828654766083, 0.3550017774105072, 0.0979551151394844, 0.021405089646577835, 0.36555588245391846, 0.2820824980735779, 0.1411217600107193, 0.015697065740823746, 0.36555585265159607, 0.3338935673236847, 0.09297433495521545, 0.01712406985461712, 0.07344678789377213, 0.20916320383548737, 0.30702856183052063, 0.07471152395009995, 0.014983562752604485, 39.060001373291016, 9.568499565124512, 23.773000717163086, 2.25, 0.3391999900341034, 3.835200071334839, 1.2288000583648682, 2.4961140155792236, 4.762992858886719, 2.6879374980926514, 1.3744146823883057, 0.6574614644050598, 2.1472809314727783, 0.6956115961074829, 1.0592433214187622, 0.21405088901519775, 0.8529636859893799, 0.2705689072608948, 0.14776279032230377, 0.021405089646577835, 1.3825879096984863, 0.20052802562713623, 0.26066020131111145, 0.02425910159945488, 0.12578311562538147, 0.9652210474014282, 0.5305837392807007, 0.24571789801120758, 0.08776086568832397, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.36126708984375, 2.2739806175231934, -13.33137035369873, -2.0697922706604004, -0.05326123908162117, -0.36229372024536133, 1.5810723304748535, -0.004716192837804556, -0.002272317884489894, 0.024043161422014236, 0.006267288234084845, 8.05500167189166e-05, 0.036820825189352036, 0.025149904191493988, 0.0004660916165448725, 0.0002191255334764719, 0.05617545172572136, -0.013370565138757229, 0.002849735552445054, 0.0004157332587055862, 0.0549200102686882, 0.04735272005200386, 0.0019949679262936115, 0.0011870458256453276, -0.003598787123337388, 0.01977178268134594, 0.012078024446964264, 0.0020481464453041553, 0.0008828897261992097, 26.98385238647461, 1.043387532234192, 12.754776000976562, -2.0605602264404297, -0.538456916809082, 1.4928580522537231, -1.089982509613037, 0.589668333530426, 1.8103824853897095, 0.5083040595054626, 0.15627038478851318, 0.18836848437786102, 1.0078027248382568, -0.15427187085151672, 0.5381181836128235, 0.12145897001028061, -0.05791317671537399, -0.12297400832176208, 0.0005599333671852946, 0.0018346750875934958, 0.000829304801300168, -0.01212503295391798, 0.0033134715631604195, -0.0003854869573842734, -0.00012533311382867396, -0.007182645611464977, -0.024329163134098053, -0.015127643011510372, 0.001951294019818306, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.9335566163063049, 1.0530521869659424, 0.6987632513046265, 0.729057252407074, 0.24370938539505005, 0.3901510238647461, 0.19715024530887604, 0.050111498683691025, 0.028056703507900238, 0.05293973907828331, 0.05152988061308861, 0.010309246368706226, 0.07177557796239853, 0.06340894103050232, 0.008670998737215996, 0.00412006676197052, 0.06893767416477203, 0.05490308627486229, 0.019419368356466293, 0.00402711471542716, 0.062129680067300797, 0.06790053099393845, 0.0108074601739645, 0.0044986349530518055, 0.013531243428587914, 0.03531559556722641, 0.05125706270337105, 0.009008986875414848, 0.004400408361107111, 4.165139198303223, 2.1714723110198975, 1.7471349239349365, 1.8639137744903564, 0.29756662249565125, 0.6738843321800232, 0.5144408345222473, 0.8216508626937866, 1.7264376878738403, 0.599372386932373, 0.3381885886192322, 0.1904381811618805, 0.9381394386291504, 0.30239519476890564, 0.4904918074607849, 0.10516754537820816, 0.16407941281795502, 0.16323880851268768, 0.02871203050017357, 0.008286625146865845, 0.0765661671757698, 0.056427642703056335, 0.027586789801716805, 0.009067488834261894, 0.018371261656284332, 0.13495171070098877, 0.10160728543996811, 0.04577445983886719, 0.005832462105900049, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2123]}, "observation.state.tcp": {"min": [0.36180856823921204, 0.16195183992385864, 0.9472452402114868, -1.443367838859558, 1.218327522277832, -1.6120672225952148, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23110945522785187, -0.2744196951389313, 0.9368162751197815, -0.6567922830581665, 1.2180559635162354, 0.4039032459259033, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.40515726804733276, 0.23318465054035187, 1.051692247390747, -1.001970887184143, 1.9191659688949585, -1.229509949684143, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4634856879711151, -0.040670208632946014, 1.157865047454834, 1.2085614204406738, 1.916939377784729, 1.49387526512146, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3931112289428711, 0.21217799186706543, 0.9876802563667297, -1.3165425062179565, 1.71183443069458, -1.4948818683624268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39524149894714355, -0.15096653997898102, 1.048303246498108, -0.12810996174812317, 1.6972954273223877, 0.7787594199180603, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.009096238762140274, 0.00850533414632082, 0.028287295252084732, 0.09548291563987732, 0.12780481576919556, 0.034369371831417084, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05868764966726303, 0.056304048746824265, 0.05000199377536774, 0.3012596070766449, 0.12489257752895355, 0.16612859070301056, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2123]}, "action": {"min": [1.050269365310669, -0.801626443862915, -0.22607041895389557, 1.1281133890151978, -0.09039069712162018, -0.7662232518196106, 0.17338202893733978, 0.0, 0.0, -0.28818565607070923, 0.0, 0.0, 0.0, -0.05642243102192879, 0.0, 0.0, 0.0, -0.06454294919967651, 0.0, 0.0, 0.0, -0.0748286023736, 0.0, 0.0, 0.0, 0.0, -0.03756298869848251, 0.0, 0.0, 0.8883531093597412, -1.1493749618530273, -0.24183766543865204, 1.0170048475265503, -1.7760112285614014, -0.8259031772613525, -0.31336379051208496, 0.0, -0.09847813099622726, -0.2248285561800003, -0.15543881058692932, 0.0, 0.0, -0.006479176227003336, 0.0, 0.0, 0.0, -0.09476476162672043, 0.0, 0.0, 0.0, -0.15403273701667786, 0.0, 0.0, 0.0, 0.0, -0.1770094633102417, 0.0, 0.0, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0008675975259393454, -0.00016849394887685776, -1.1408692143242153e-18, -0.7570499181747437], "max": [1.2107800245285034, -0.634737491607666, -0.0015855206875130534, 1.568143367767334, 0.14716628193855286, 0.10395457595586777, 0.5905992388725281, 1.4409008026123047, 0.28577733039855957, 0.0, 0.2809971570968628, 0.8841916918754578, 0.768523097038269, 0.16323527693748474, 0.06166135147213936, 0.0593763068318367, 0.5923662185668945, 0.2754155993461609, 0.08073897659778595, 0.05428120121359825, 0.2857159376144409, 0.2894723415374756, 0.041663654148578644, 0.03530367091298103, 0.2617911398410797, 0.21165435016155243, 0.27867427468299866, 0.03480270132422447, 0.032486993819475174, 1.4529917240142822, -0.3121461272239685, -2.945373489637859e-05, 1.8111501932144165, -1.0243221368000377e-05, -0.15726561844348907, 0.7819618582725525, 1.4060792922973633, 0.2917824685573578, 0.3274012506008148, 0.19245366752147675, 0.49219992756843567, 1.088193416595459, 0.16640983521938324, 0.5909107327461243, 0.4593796730041504, 1.4738423824310303, 0.2673330307006836, 1.339806079864502, 0.4214117228984833, 1.443554401397705, 0.27593016624450684, 1.4534144401550293, 0.7385542988777161, 0.15977418422698975, 1.3560336828231812, 0.2860519587993622, 1.4247220754623413, 1.3983893394470215, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 0.00040989049011841416, 2.1867552277399227e-05, 0.13257573544979095, -0.6000000238418579], "mean": [1.1475341320037842, -0.6895340085029602, -0.22299031913280487, 1.2287635803222656, 0.12037499248981476, -0.05486913397908211, 0.3220266103744507, 1.4116438627243042, 0.27421271800994873, -0.18791571259498596, 0.2561756372451782, 0.8638906478881836, 0.6661972999572754, 0.14526940882205963, 0.05437599495053291, 0.0534835010766983, 0.4079627990722656, 0.24645645916461945, 0.07017991691827774, 0.04553987830877304, 0.15093587338924408, 0.2561146020889282, 0.028460940346121788, 0.0245196595788002, 0.08745070546865463, 0.11694714426994324, 0.2560635209083557, 0.021715151146054268, 0.020948322489857674, 1.2367072105407715, -0.6234806180000305, -0.21803490817546844, 1.3035203218460083, -1.2459887266159058, -0.3734927773475647, 0.03995170444250107, 1.287975549697876, 0.11068099737167358, 0.007939736358821392, -0.06443627178668976, 0.1467667520046234, 0.8702062964439392, 0.06004879251122475, 0.3038257956504822, 0.2384544312953949, 1.215528964996338, -0.04876311123371124, 1.1150846481323242, 0.2529783248901367, 1.319911003112793, -0.10554061084985733, 1.2272545099258423, 0.47123950719833374, 0.04129061475396156, 1.232290506362915, -0.12422635406255722, 0.8845537900924683, 1.2939460277557373, 0.5626912117004395, -1.1068525314331055, 0.5441288352012634, -0.0004949204158037901, -7.370564958364412e-07, 0.0935899168252945, -0.7174544334411621], "std": [0.048995766788721085, 0.040073394775390625, 0.022064827382564545, 0.0879974365234375, 0.06576252728700638, 0.12839193642139435, 0.09591270983219147, 0.15811531245708466, 0.03386257588863373, 0.0323716402053833, 0.032303404062986374, 0.1043640747666359, 0.0944376289844513, 0.023492788895964622, 0.0073128966614604, 0.007027256768196821, 0.11074143648147583, 0.03958214074373245, 0.010578206740319729, 0.007612738758325577, 0.061583325266838074, 0.04247577115893364, 0.007339887320995331, 0.0063167233020067215, 0.033311519771814346, 0.04524717107415199, 0.03711758181452751, 0.007224176544696093, 0.006840361747890711, 0.11892791092395782, 0.166289284825325, 0.02387852966785431, 0.19158579409122467, 0.32216331362724304, 0.12321309745311737, 0.18658560514450073, 0.1679919809103012, 0.05602490156888962, 0.07257672399282455, 0.05980079993605614, 0.08038298785686493, 0.16869448125362396, 0.03249157592654228, 0.14182376861572266, 0.12898842990398407, 0.2131618857383728, 0.04437825828790665, 0.24817731976509094, 0.057566266506910324, 0.2500663995742798, 0.05978803336620331, 0.2679218053817749, 0.1321810930967331, 0.013895714655518532, 0.2385769635438919, 0.06655828654766083, 0.2481652945280075, 0.2733645737171173, 9.562093509885017e-06, 1.3086124454275705e-05, 2.3158941985457204e-05, 0.00016000415780581534, 1.2808905012207106e-05, 0.02445751056075096, 0.023689737543463707], "count": [2123]}, "observation.state.tcp_pose": {"min": [0.36180856823921204, 0.16195183992385864, 0.9472452402114868, -1.443367838859558, 1.218327522277832, -1.6120672225952148, 0.23110945522785187, -0.2744196951389313, 0.9368162751197815, -0.6567922830581665, 1.2180559635162354, 0.4039032459259033], "max": [0.40515726804733276, 0.23318465054035187, 1.051692247390747, -1.001970887184143, 1.9191659688949585, -1.229509949684143, 0.4634856879711151, -0.040670208632946014, 1.157865047454834, 1.2085614204406738, 1.916939377784729, 1.49387526512146], "mean": [0.3931112289428711, 0.21217799186706543, 0.9876802563667297, -1.3165425062179565, 1.71183443069458, -1.4948818683624268, 0.39524149894714355, -0.15096653997898102, 1.048303246498108, -0.12810996174812317, 1.6972954273223877, 0.7787594199180603], "std": [0.009096238762140274, 0.00850533414632082, 0.028287295252084732, 0.09548291563987732, 0.12780481576919556, 0.034369371831417084, 0.05868764966726303, 0.056304048746824265, 0.05000199377536774, 0.3012596070766449, 0.12489257752895355, 0.16612859070301056], "count": [2123]}, "action.tcp_pose": {"min": [0.3619258403778076, 0.16204293072223663, 0.9472061395645142, -1.4433807134628296, 1.2199835777282715, -1.6176789999008179, 0.23047372698783875, -0.2734333872795105, 0.9372280240058899, -0.6568663716316223, 1.2178536653518677, 0.4036523699760437], "max": [0.4051625728607178, 0.2331053912639618, 1.051456332206726, -1.001502513885498, 1.9192317724227905, -1.2305970191955566, 0.46331217885017395, -0.040683865547180176, 1.157663106918335, 1.208808183670044, 1.9168572425842285, 1.537793517112732], "mean": [0.3931252956390381, 0.21220004558563232, 0.9876775145530701, -1.3164172172546387, 1.711664080619812, -1.4948697090148926, 0.39535918831825256, -0.15107133984565735, 1.0493055582046509, -0.13085193932056427, 1.6941841840744019, 0.7787824869155884], "std": [0.009090070612728596, 0.008466240018606186, 0.02830100618302822, 0.09576050192117691, 0.12788155674934387, 0.034448664635419846, 0.05861659348011017, 0.05645854398608208, 0.050416477024555206, 0.29729965329170227, 0.12897908687591553, 0.1666136533021927], "count": [2123]}, "subtask_index": {"min": [54], "max": [2865], "mean": [2477.1139896373056], "std": [801.7515288982474], "count": [2123]}, "observation.tactile": {"min": [-0.023503955453634262, -3.952392580686137e-05, -8.58921994222328e-05, -0.002799335401505232, -9.507081267656758e-05, -0.0004729299107566476, -0.0019050204427912831, -4.476953836274333e-05, -0.00010289372585248202, -0.00044076264020986855, -2.1755631678388454e-05, -3.3141310268547386e-05, -0.004699000623077154, -4.723826714325696e-05, -0.00010453270806465298, -0.0007367347134277225, -3.1663497793488204e-05, -0.00010188695159740746, -0.017279118299484253, -3.6134042602498084e-05, -7.74008221924305e-05, -0.0013449310790747404, -4.148905645706691e-06, -0.00036347261629998684, -0.008141940459609032, -4.7084889956749976e-05, -0.00010655653750291094, -0.0009898812277242541, -3.243983519496396e-05, -0.00018556277791503817, -2.2546820640563965, -4.208289465168491e-05, -9.71497647697106e-05, -0.2164030820131302, -0.018094001337885857, -0.025381609797477722, -7.373586177825928, -0.08934386074542999, -0.00010517376358620822, -0.2151966542005539, -0.024526705965399742, -0.1332598775625229, -0.011126670986413956, -4.7595407522749156e-05, -0.00010665164882084355, -0.0014559803530573845, -7.505461690016091e-05, -0.0002440594253130257, -0.022279713302850723, -5.455677455756813e-05, -0.00012371822958812118, -0.00273022404871881, -6.458556890720502e-05, -0.00045278898323886096, -0.317771852016449, -4.0404280298389494e-05, -9.052703535417095e-05, -0.0013580513186752796, -0.0004313201643526554, -0.004975191783159971], "max": [0.0050118169747292995, 0.04804731532931328, 0.15153051912784576, 1.601117673999397e-06, 0.00041565264109522104, 5.5859149142634124e-05, 0.0021697026677429676, 0.008848529309034348, 0.026137160137295723, 1.773742610566842e-06, 0.00015366938896477222, 6.476440375990933e-06, 0.0008547353208996356, 0.013907283544540405, 0.040511295199394226, 1.9626384073490044e-06, 9.43214981816709e-05, 8.45926933834562e-06, 0.02182348258793354, 0.023692121729254723, 0.07074199616909027, 1.428830955774174e-06, 0.00035260297590866685, 0.0003348661703057587, 0.0021684076637029648, 0.016654931008815765, 0.04843528941273689, 2.006284830713412e-06, 0.0001407913805451244, 7.767186616547406e-06, 5.780731201171875, 6.537075996398926, 12.516469955444336, 1.7867320138975629e-06, 0.04462506249547005, 0.08915345370769501, 2.9716544151306152, 7.569565773010254, 14.362674713134766, 0.015072792768478394, 0.014788866974413395, 0.06606504321098328, 0.006818409077823162, 0.022972026839852333, 0.0687292292714119, 1.9862995941366535e-06, 0.00014510710025206208, 7.308682688744739e-05, 0.15842518210411072, 0.06770896911621094, 0.17042148113250732, 2.2411813915823586e-06, 0.0009121558396145701, 0.002189922844991088, 0.0015092447865754366, 0.042017024010419846, 0.08133353292942047, 1.6820436030684505e-06, 0.00014243947225622833, 6.888674306537723e-06], "mean": [-0.0019593089818954468, 0.005920429714024067, 0.01753397099673748, -0.0002819411165546626, 2.5671994080767035e-05, -3.8508678699145094e-05, 0.00022318745322991163, 0.00014514115173369646, 0.0004496624751482159, -7.3246078500233125e-06, -1.39450730785029e-06, 4.553049620881211e-06, -9.507228242000565e-05, 0.0009713456965982914, 0.0028669072780758142, -4.7565274144290015e-05, 2.4735848001000704e-06, -1.4960763792259968e-06, -0.0020789867267012596, 0.004218262154608965, 0.012349742464721203, -0.0002279842592542991, 2.8914799258927815e-05, -4.789793456438929e-05, 0.00014794612070545554, 0.0004308434436097741, 0.001256499788723886, -1.953015453182161e-05, 9.587781732989242e-07, 3.3163692023663316e-06, 1.697044014930725, 2.1455860137939453, 5.153480529785156, -0.08836877346038818, 0.006813397631049156, 0.02573748305439949, -2.0810775756835938, 1.2261992692947388, 5.881685733795166, -0.0959826409816742, -0.002234920160844922, -0.0343833789229393, -0.0007343639153987169, 0.0027067135088145733, 0.008051219396293163, -0.00016827140643727034, 9.565457730786875e-06, -1.890522071334999e-05, -0.0025609987787902355, 0.006295045372098684, 0.018193267285823822, -0.0003831683425232768, -1.0808655133587308e-05, -5.108669574838132e-05, -0.0011629352811723948, 0.0026820353232324123, 0.00771234929561615, -0.00016686253366060555, -5.631091880786698e-06, -2.2092506696935743e-05], "std": [0.002792962593957782, 0.007165079936385155, 0.02111029624938965, 0.000386259111110121, 5.98254737269599e-05, 5.970408892608248e-05, 0.0002754396991804242, 0.000639723555650562, 0.0018517874414101243, 3.061329698539339e-05, 5.102249815536197e-06, 4.504005573835457e-06, 0.0008278844179585576, 0.0020470863673835993, 0.0059582251124084, 0.00010374637349741533, 9.73517308011651e-06, 1.6463811334688216e-05, 0.0035675738472491503, 0.005483307410031557, 0.01594206690788269, 0.0003023178724106401, 3.829744309769012e-05, 7.44324061088264e-05, 0.0005900239339098334, 0.0013103862293064594, 0.003760452615097165, 6.475544796558097e-05, 1.2671173863054719e-05, 1.2821869859180879e-05, 1.7820773124694824, 2.046384334564209, 4.385838031768799, 0.07360003143548965, 0.013417303562164307, 0.02722756378352642, 1.9346492290496826, 1.303242564201355, 5.045653343200684, 0.08185756951570511, 0.006978737190365791, 0.03264454007148743, 0.0017773443832993507, 0.004531835205852985, 0.013344396837055683, 0.000284638226730749, 1.9986346160294488e-05, 4.0073067793855444e-05, 0.0045356652699410915, 0.005097455345094204, 0.014725163578987122, 0.00030681610223837197, 3.2846473914105445e-05, 7.319216820178553e-05, 0.007300564553588629, 0.003533227602019906, 0.010106752626597881, 0.00022296071983873844, 2.0685027266154066e-05, 0.0001150352691183798], "count": [2123]}, "timestamp": {"min": [0.0], "max": [70.73333333333333], "mean": [35.36666666666667], "std": [20.428574758574488], "count": [2123]}, "frame_index": {"min": [0], "max": [2122], "mean": [1061.0], "std": [612.8572427572346], "count": [2123]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [2123]}, "index": {"min": [135689], "max": [137811], "mean": [136750.0], "std": [612.8572427572346], "count": [2123]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2123]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5659522414207458]], [[0.5666691064834595]], [[0.567586362361908]]], "std": [[[0.30314362049102783]], [[0.30218207836151123]], [[0.30268219113349915]]], "count": [2123]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29991209506988525]], [[0.3040286898612976]], [[0.3028644621372223]]], "std": [[[0.18153634667396545]], [[0.1822601556777954]], [[0.18316194415092468]]], "count": [2123]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31031322479248047]], [[0.3139614462852478]], [[0.3116833567619324]]], "std": [[[0.1848871260881424]], [[0.18427088856697083]], [[0.18425127863883972]]], "count": [2123]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.569693922996521]], [[0.5700320601463318]], [[0.570405125617981]]], "std": [[[0.3086388111114502]], [[0.30807146430015564]], [[0.30889058113098145]]], "count": [2123]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6274510025978088]], [[0.6274510025978088]], [[0.6274510025978088]]], "mean": [[[0.004238032270222902]], [[0.004238032270222902]], [[0.004238032270222902]]], "std": [[[0.040619224309921265]], [[0.040619224309921265]], [[0.040619224309921265]]], "count": [2123]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4912089705467224]], [[0.4912089705467224]], [[0.4912089705467224]]], "std": [[[0.22187568247318268]], [[0.22187568247318268]], [[0.22187568247318268]]], "count": [2123]}}}
+{"episode_index": 53, "stats": {"observation.state": {"min": [1.039789080619812, -0.7868736386299133, -0.22597956657409668, 1.0664622783660889, -9.383648284710944e-05, -0.769088089466095, 0.16600200533866882, 0.006898790597915649, -0.0002204260090366006, -0.2920931279659271, 0.00016023567877709866, 0.003493153490126133, 0.00547099718824029, -0.0034891036339104176, 0.0034576973412185907, 0.0008664483320899308, 0.004094048403203487, -0.005256347358226776, 0.0030276125762611628, 0.000848267984110862, -0.0013163563562557101, -0.005733973812311888, 0.002796791959553957, 0.0008385126711800694, 0.005458776839077473, -0.0027384418062865734, -0.0032052751630544662, 0.005814831238240004, 0.0008340784697793424, 0.9043689966201782, -1.1525729894638062, -0.24102625250816345, 0.9185159206390381, -1.7053117752075195, -0.8167603015899658, -0.22706440091133118, 0.005579306278377771, -0.03952188789844513, -0.21456483006477356, -0.16694775223731995, 0.003275451948866248, 0.00537262624129653, -0.07017017155885696, 0.0035722211468964815, 0.0008828549762256444, -0.0035001428332179785, -0.08240765333175659, 0.0034389053471386433, 0.0008762036450207233, 0.00015430270286742598, -0.1447770744562149, 0.0038445251993834972, 0.001040713512338698, 0.006674692966043949, -0.001596995978616178, -0.16966839134693146, 0.005737181752920151, 0.0011653153924271464, 0.5623956918716431, -1.1070547103881836, 0.543796181678772, -0.0011504855938255787, -9.58738019107841e-05, -0.0001917476038215682, -0.7454187870025635], "max": [1.249653697013855, -0.5833880305290222, -0.0003827761684078723, 1.569504976272583, 0.16550011932849884, 0.1006970927119255, 0.6454871296882629, 1.4262605905532837, 0.2814798057079315, -0.0035213963128626347, 0.26070114970207214, 0.9469732046127319, 0.5760043263435364, 0.1517653465270996, 0.04539291188120842, 0.045530661940574646, 0.4096629321575165, 0.26602286100387573, 0.07268857955932617, 0.04547124356031418, 0.16850753128528595, 0.28429192304611206, 0.026123838499188423, 0.022354278713464737, 0.11626767367124557, 0.12390205264091492, 0.2767087519168854, 0.018815942108631134, 0.022432319819927216, 1.4917598962783813, -0.28719836473464966, -1.1984224101979635e-07, 1.7783427238464355, 0.17425793409347534, -0.10001818835735321, 0.6982092261314392, 1.4454256296157837, 0.28831246495246887, 0.043647170066833496, 0.19614775478839874, 0.5832761526107788, 1.0955538749694824, 0.18436267971992493, 0.6357035636901855, 0.446521520614624, 1.4077800512313843, 0.292974054813385, 1.3215157985687256, 0.5137054324150085, 1.4411696195602417, 0.299332857131958, 1.4754821062088013, 0.7097324728965759, 0.24294233322143555, 1.3293168544769287, 0.29659759998321533, 1.4427422285079956, 1.3111203908920288, 0.5631626844406128, -1.106479525566101, 0.5445631742477417, 0.0, 9.58738019107841e-05, 0.13220997154712677, -0.596910297870636], "mean": [1.1506800651550293, -0.6538313627243042, -0.22365537285804749, 1.1843069791793823, 0.13105927407741547, -0.08738479763269424, 0.34843653440475464, 1.3789337873458862, 0.2618520259857178, -0.20598571002483368, 0.19041287899017334, 0.9270647764205933, 0.4991016387939453, 0.13967549800872803, 0.03761867433786392, 0.039721257984638214, 0.3091447651386261, 0.2283940613269806, 0.058966636657714844, 0.037387628108263016, 0.09963513165712357, 0.23651549220085144, 0.016674190759658813, 0.015152320265769958, 0.06690336763858795, 0.07697387039661407, 0.23270589113235474, 0.013553094118833542, 0.013118309900164604, 1.2109302282333374, -0.5741326212882996, -0.2064957618713379, 1.1958590745925903, -1.0574524402618408, -0.34379613399505615, 0.17110218107700348, 1.3308789730072021, 0.12385746836662292, -0.04796643182635307, -0.0908975899219513, 0.151734858751297, 0.8893848061561584, 0.06922844797372818, 0.17765401303768158, 0.1725561022758484, 1.1875059604644775, -0.045988064259290695, 1.1465582847595215, 0.21372650563716888, 1.2956933975219727, -0.10411375015974045, 1.2997406721115112, 0.3332805633544922, 0.03510997071862221, 1.1754554510116577, -0.12391173094511032, 0.8732876181602478, 1.2566791772842407, 0.562700092792511, -1.1068663597106934, 0.5440583825111389, -0.0005901146796531975, -1.7101997684676462e-07, 0.09218353033065796, -0.7167124152183533], "std": [0.0634327232837677, 0.04112952575087547, 0.01880168728530407, 0.08439046144485474, 0.052007436752319336, 0.14822115004062653, 0.11132725328207016, 0.1337990015745163, 0.030278818681836128, 0.02540341578423977, 0.02089637890458107, 0.09994807094335556, 0.060616929084062576, 0.018733521923422813, 0.00429895194247365, 0.0045656380243599415, 0.0628926083445549, 0.037885647267103195, 0.009209788404405117, 0.005875851027667522, 0.04287483170628548, 0.0436536930501461, 0.0058253491297364235, 0.005359799135476351, 0.040786921977996826, 0.037017423659563065, 0.03445791080594063, 0.005709109827876091, 0.006432639434933662, 0.11217309534549713, 0.17018967866897583, 0.023691056296229362, 0.20207637548446655, 0.42728227376937866, 0.12307097762823105, 0.20016257464885712, 0.15030847489833832, 0.04645616561174393, 0.05076847970485687, 0.052960075438022614, 0.12425827234983444, 0.1826533079147339, 0.03830036148428917, 0.14376682043075562, 0.07759743183851242, 0.1922677457332611, 0.04238731041550636, 0.22198690474033356, 0.0629243329167366, 0.2234126180410385, 0.05758800357580185, 0.2489284723997116, 0.11798005551099777, 0.022951461374759674, 0.21000182628631592, 0.05977988988161087, 0.22435429692268372, 0.23864319920539856, 5.742895882576704e-05, 3.9704675145912915e-05, 7.470106356777251e-05, 0.0002538053086027503, 7.011344678176101e-06, 0.025809040293097496, 0.02560044266283512], "count": [2803]}, "observation.state.joint_torque": {"min": [-30.964500427246094, -0.890999972820282, -15.942999839782715, -5.864999771118164, -0.31360000371932983, -0.972000002861023, 1.0247999429702759, -0.6826107501983643, -0.40243467688560486, -0.4560670852661133, -0.3404969274997711, -0.18096791207790375, -0.4806915819644928, -0.5046781897544861, -0.09297433495521545, -0.03781566023826599, -0.3885830044746399, -0.41544800996780396, -0.167685866355896, -0.03139413148164749, -0.2887987196445465, -0.4375157058238983, -0.0879935771226883, -0.032821137458086014, -0.11698708683252335, -0.2600148022174835, -0.4634212255477905, -0.07471152395009995, -0.03068062849342823, -3.8415000438690186, -4.269000053405762, -10.61299991607666, -8.486000061035156, -2.2904000282287598, -5.727200031280518, -3.3624000549316406, -1.9765145778656006, -0.7220901250839233, -0.2796051502227783, -1.1035083532333374, -0.12617947161197662, -0.950829029083252, -0.9546669125556946, -0.27062171697616577, -0.07919883728027344, -1.5322643518447876, -1.4334396123886108, -0.5810896754264832, -0.07277730107307434, -1.2166006565093994, -0.6485978364944458, -0.421705037355423, -0.033534638583660126, -0.13633833825588226, -1.3307769298553467, -0.3837856948375702, -0.8948780298233032, -0.10773894935846329, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.878000259399414, 5.802000045776367, -11.119999885559082, 0.7319999933242798, 1.5288000106811523, 0.9344000220298767, 2.3815999031066895, 0.9920779466629028, 0.27635547518730164, 0.4336986839771271, 0.5194442272186279, 0.09131408482789993, 0.4240832030773163, 0.2887987494468689, 0.09961536526679993, 0.015697065740823746, 0.34732604026794434, 0.27344730496406555, 0.14610254764556885, 0.013556556776165962, 0.36843428015708923, 0.3242989182472229, 0.11621791869401932, 0.01712406985461712, 0.05233633145689964, 0.3147042691707611, 0.3665153384208679, 0.04648716747760773, 0.014270060695707798, 41.14649963378906, 9.015000343322754, 18.38800048828125, 4.742000102996826, 0.3856000006198883, 2.9760000705718994, 8.29520034790039, 2.487199068069458, 5.0138773918151855, 2.581066370010376, 1.380627989768982, 0.6823652386665344, 2.1539974212646484, 1.3192633390426636, 1.0625640153884888, 0.21405088901519775, 0.8011526465415955, 0.6697059869766235, 0.14278201758861542, 0.04423718526959419, 0.43175891041755676, 0.28016355633735657, 0.22579483687877655, 0.03139413148164749, 0.11698708683252335, 0.6226922869682312, 0.5843137502670288, 0.37521788477897644, 0.07491781562566757, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.068981170654297, 2.0615901947021484, -13.100149154663086, -1.8498963117599487, 0.12776511907577515, -0.3337967097759247, 1.6012043952941895, -0.0038896442856639624, -0.0013716588728129864, 0.007623699028044939, -0.004546918906271458, 0.000371380738215521, 0.005703771952539682, 0.007178383879363537, 0.0004756281850859523, 0.00016112996672745794, 0.017853600904345512, 0.003817274933680892, 0.001238532131537795, 5.956448148936033e-05, 0.040440965443849564, 0.038335852324962616, 0.0019267983734607697, 0.0005246278597041965, -0.0008507320308126509, 0.017331290990114212, 0.017008138820528984, 0.0004916198668070138, 0.00010640217806212604, 26.626705169677734, 1.155703067779541, 11.555901527404785, -1.7294808626174927, -0.44695377349853516, 1.1330820322036743, -1.083775281906128, 0.5438786149024963, 1.9499770402908325, 0.6194098591804504, 0.26577505469322205, 0.19791056215763092, 1.3290265798568726, -0.02326572872698307, 0.6459508538246155, 0.13130676746368408, -0.13715438544750214, -0.2253613919019699, -0.0027584065683186054, 0.0008496828959323466, -0.017665380612015724, -0.04082256183028221, 0.003317550988867879, -0.0018017024267464876, -0.0018364004790782928, -0.03713706508278847, -0.012456603348255157, -0.024774715304374695, 0.0006025208276696503, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7420426607131958, 0.8328772187232971, 0.7503983974456787, 0.6492830514907837, 0.2367207109928131, 0.36451518535614014, 0.18438838422298431, 0.045404307544231415, 0.03270668908953667, 0.05028931051492691, 0.047750074416399, 0.010195164009928703, 0.06711846590042114, 0.06276857107877731, 0.007618503179401159, 0.0035138509701937437, 0.05280190706253052, 0.05301857739686966, 0.0161563903093338, 0.0035401268396526575, 0.058933790773153305, 0.07353551685810089, 0.009672855958342552, 0.003787188557907939, 0.011036735959351063, 0.03636772185564041, 0.0656438022851944, 0.004487587604671717, 0.003908972721546888, 4.9611101150512695, 2.1794416904449463, 3.179110527038574, 1.6942787170410156, 0.36485815048217773, 0.899006724357605, 1.069650411605835, 0.9476909637451172, 1.5960304737091064, 0.6040211319923401, 0.41564255952835083, 0.17891092598438263, 0.9602727890014648, 0.24054346978664398, 0.4764954745769501, 0.09807335585355759, 0.3430890142917633, 0.3090589940547943, 0.03536844998598099, 0.009354708716273308, 0.08499227464199066, 0.08547351509332657, 0.026182571426033974, 0.008009239099919796, 0.019857235252857208, 0.1335347592830658, 0.0949605405330658, 0.059546131640672684, 0.006192405708134174, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2803]}, "observation.state.tcp": {"min": [0.36180517077445984, 0.1924169808626175, 0.9416415095329285, -1.4104045629501343, 1.2183576822280884, -1.5997648239135742, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23198336362838745, -0.28034093976020813, 0.9260312914848328, -0.6947457194328308, 1.1807299852371216, 0.500335693359375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4167037010192871, 0.23586659133434296, 1.0549089908599854, -1.1040456295013428, 1.9064973592758179, -1.2293483018875122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46287983655929565, -0.041318029165267944, 1.1667603254318237, 1.2088508605957031, 1.9367097616195679, 1.5963592529296875, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4024197459220886, 0.2090848684310913, 0.9885625243186951, -1.3090155124664307, 1.661781907081604, -1.4728144407272339, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40915191173553467, -0.15396763384342194, 1.0371060371398926, 0.015092034824192524, 1.6830627918243408, 0.8862965703010559, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010533095337450504, 0.007491018157452345, 0.03325498476624489, 0.08230551332235336, 0.14614392817020416, 0.06237659230828285, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05315744876861572, 0.05815587192773819, 0.049592260271310806, 0.41965511441230774, 0.12059415131807327, 0.20930461585521698, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2803]}, "action": {"min": [1.0397858619689941, -0.7869018912315369, -0.22597454488277435, 1.0664552450180054, 1.6999070794554427e-05, -0.7689507603645325, 0.16601254045963287, 0.0, 0.0, -0.29303300380706787, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9043723940849304, -1.1527529954910278, -0.241017684340477, 0.9184314608573914, -1.7052998542785645, -0.8169099688529968, -0.22705137729644775, 0.0, -0.045598920434713364, -0.21387025713920593, -0.1665237694978714, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.08771772682666779, 0.0, 0.0, 0.0, -0.15093794465065002, 0.0, 0.0, -9.058684469209766e-09, 0.0, -0.17121025919914246, 0.0, 0.0, 0.5625879764556885, -1.1069586277008057, 0.5439890027046204, -0.0011827069101855159, -1.2561411494971253e-05, 4.41349505356816e-19, -0.7456145882606506], "max": [1.2496416568756104, -0.5833588242530823, -0.000399608223233372, 1.5693782567977905, 0.1654781848192215, 0.10072412341833115, 0.6456083655357361, 1.4358891248703003, 0.2815171778202057, 0.0, 0.2675141990184784, 0.9533526301383972, 0.5883683562278748, 0.15700550377368927, 0.049346230924129486, 0.0476197712123394, 0.4193453788757324, 0.26565858721733093, 0.07897954434156418, 0.04648847505450249, 0.17626789212226868, 0.2881295084953308, 0.03114016354084015, 0.026990344747900963, 0.1433664858341217, 0.13034337759017944, 0.2773487865924835, 0.02573063224554062, 0.02449044957756996, 1.4917738437652588, -0.2871822416782379, -0.0006255643093027174, 1.7790038585662842, 0.17813053727149963, -0.09998325258493423, 0.8966583013534546, 1.4480838775634766, 0.29175686836242676, 0.04362192749977112, 0.21117746829986572, 0.5893476009368896, 1.1759191751480103, 0.21054628491401672, 0.6701070666313171, 0.6759889125823975, 1.438490629196167, 0.294609010219574, 1.3275737762451172, 0.52031010389328, 1.4614094495773315, 0.2999769151210785, 1.4790925979614258, 0.7115747928619385, 0.26180002093315125, 1.3367691040039062, 0.29676684737205505, 1.4453799724578857, 1.4038923978805542, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -6.901579017455486e-21, 1.2915161278215237e-05, 0.13251127302646637, -0.5968841314315796], "mean": [1.1507521867752075, -0.6538466215133667, -0.22367797791957855, 1.1843453645706177, 0.1310705691576004, -0.08755765110254288, 0.3485512137413025, 1.3840616941452026, 0.265207976102829, -0.20516030490398407, 0.19069413840770721, 0.931071400642395, 0.5022106766700745, 0.1430368423461914, 0.043483976274728775, 0.04262499138712883, 0.3139672875404358, 0.23158001899719238, 0.06379812955856323, 0.040216125547885895, 0.10160481929779053, 0.24153326451778412, 0.02153714932501316, 0.018989769741892815, 0.08015518635511398, 0.08050896972417831, 0.23823994398117065, 0.017032848671078682, 0.016506904736161232, 1.2121907472610474, -0.574923038482666, -0.2065240442752838, 1.1965916156768799, -1.0580499172210693, -0.3441792130470276, 0.1727954000234604, 1.3360930681228638, 0.1332997828722, -0.047059960663318634, -0.09004729241132736, 0.15380719304084778, 0.930512011051178, 0.058011993765830994, 0.20271612703800201, 0.28258806467056274, 1.1844722032546997, -0.047030866146087646, 1.1465232372283936, 0.21367572247982025, 1.2927535772323608, -0.1049986481666565, 1.300215244293213, 0.3331316411495209, 0.030759306624531746, 1.1727596521377563, -0.1245603859424591, 0.8709720969200134, 1.2998229265213013, 0.5627042651176453, -1.1068722009658813, 0.544130265712738, -0.0006340820691548288, -5.638491984427674e-07, 0.09222633391618729, -0.7167413234710693], "std": [0.06344283372163773, 0.04112783819437027, 0.018674485385417938, 0.08442243933677673, 0.051995523273944855, 0.14855121076107025, 0.11144232004880905, 0.14508453011512756, 0.031386904418468475, 0.027928363531827927, 0.02336859703063965, 0.10460182279348373, 0.06188982352614403, 0.019243581220507622, 0.005138402804732323, 0.004955155774950981, 0.06228991225361824, 0.037067659199237823, 0.008695729076862335, 0.005603864789009094, 0.04407837241888046, 0.042739104479551315, 0.006629832088947296, 0.005696458742022514, 0.04737365245819092, 0.03683708980679512, 0.03582218661904335, 0.00700406776741147, 0.006719400640577078, 0.11232094466686249, 0.17104299366474152, 0.02360365353524685, 0.2026514858007431, 0.4268853962421417, 0.12325482070446014, 0.20531584322452545, 0.15703366696834564, 0.05262790247797966, 0.05130264163017273, 0.0543874092400074, 0.12630078196525574, 0.20235559344291687, 0.030806921422481537, 0.1587735116481781, 0.17412973940372467, 0.19180379807949066, 0.04446718469262123, 0.22197382152080536, 0.06321820616722107, 0.22331205010414124, 0.05910000577569008, 0.2491428405046463, 0.1181207001209259, 0.029175693169236183, 0.21010451018810272, 0.060889191925525665, 0.22456569969654083, 0.24904172122478485, 2.1225376258371398e-05, 1.0094115168612916e-05, 3.787523019127548e-05, 0.00025388627545908093, 6.162963472888805e-06, 0.02583189122378826, 0.02562631480395794], "count": [2803]}, "observation.state.tcp_pose": {"min": [0.36180517077445984, 0.1924169808626175, 0.9416415095329285, -1.4104045629501343, 1.2183576822280884, -1.5997648239135742, 0.23198336362838745, -0.28034093976020813, 0.9260312914848328, -0.6947457194328308, 1.1807299852371216, 0.500335693359375], "max": [0.4167037010192871, 0.23586659133434296, 1.0549089908599854, -1.1040456295013428, 1.9064973592758179, -1.2293483018875122, 0.46287983655929565, -0.041318029165267944, 1.1667603254318237, 1.2088508605957031, 1.9367097616195679, 1.5963592529296875], "mean": [0.4024197459220886, 0.2090848684310913, 0.9885625243186951, -1.3090155124664307, 1.661781907081604, -1.4728144407272339, 0.40915191173553467, -0.15396763384342194, 1.0371060371398926, 0.015092034824192524, 1.6830627918243408, 0.8862965703010559], "std": [0.010533095337450504, 0.007491018157452345, 0.03325498476624489, 0.08230551332235336, 0.14614392817020416, 0.06237659230828285, 0.05315744876861572, 0.05815587192773819, 0.049592260271310806, 0.41965511441230774, 0.12059415131807327, 0.20930461585521698], "count": [2803]}, "action.tcp_pose": {"min": [0.36181122064590454, 0.19243694841861725, 0.9415727257728577, -1.4103529453277588, 1.2184367179870605, -1.599731683731079, 0.23094521462917328, -0.28034839034080505, 0.9260032176971436, -0.6947194337844849, 1.149328589439392, 0.5004663467407227], "max": [0.41672375798225403, 0.2359115183353424, 1.0552281141281128, -1.1040401458740234, 1.9065159559249878, -1.229421854019165, 0.4626883566379547, -0.041302964091300964, 1.1668463945388794, 1.2084649801254272, 1.9370555877685547, 1.6492599248886108], "mean": [0.4024393856525421, 0.20909349620342255, 0.9885639548301697, -1.3089877367019653, 1.6615921258926392, -1.4727762937545776, 0.40925586223602295, -0.1541551798582077, 1.037848711013794, 0.013015873730182648, 1.680178165435791, 0.886603593826294], "std": [0.010521801188588142, 0.007493127137422562, 0.03328895941376686, 0.0824272409081459, 0.14631910622119904, 0.06259558349847794, 0.053075868636369705, 0.058339737355709076, 0.0499260313808918, 0.4173586368560791, 0.1263420730829239, 0.2111496776342392], "count": [2803]}, "subtask_index": {"min": [54], "max": [2919], "mean": [2816.3767392079912], "std": [451.95066022013964], "count": [2803]}, "observation.tactile": {"min": [-0.010786355473101139, -4.158801675657742e-05, -9.069012594409287e-05, -0.0013613144401460886, -7.9466997704003e-05, -0.00019469766994006932, -0.003063184441998601, -4.7730194637551904e-05, -0.0001098926441045478, -0.0004899010527879, -1.188119040307356e-05, -5.878057345398702e-05, -0.005509538576006889, -4.906029425910674e-05, -0.00010928291158052161, -0.0009746961295604706, -3.8990136090433225e-05, -0.00010746857878984883, -0.013954563066363335, -3.2604824809823185e-05, -7.168296724557877e-05, -0.0012359413085505366, -2.1257155822240748e-05, -0.00029224215541034937, -0.016666941344738007, -4.727815758087672e-05, -0.00010601431858958676, -0.0010847474914044142, -6.713969924021512e-05, -0.0003450682561378926, -3.5073623657226562, -1.3856722116470337, -8.068363240454346e-05, -0.20412887632846832, -0.019079670310020447, -0.07143179327249527, -5.2475996017456055, -0.6579347848892212, -0.05448191612958908, -0.2505498230457306, -0.03428417444229126, -0.10536868870258331, -10.775871276855469, -0.3138986825942993, -0.36862507462501526, -0.031814634799957275, -0.012328912504017353, -0.15084125101566315, -0.02046903967857361, -5.8412711950950325e-05, -0.00013248069444671273, -0.0018455799436196685, -7.584357081213966e-05, -0.0004347268841229379, -0.37394118309020996, -4.062521838932298e-05, -9.13809344638139e-05, -0.001169288414530456, -0.00021199288312345743, -0.004954272881150246], "max": [0.011802085675299168, 0.02538132295012474, 0.07440951466560364, 1.7089171251427615e-06, 0.000304930261336267, 0.00016902037896215916, 0.0003453196259215474, 0.009113387204706669, 0.026536334306001663, 1.891524220809515e-06, 3.247060885769315e-05, 6.786343874409795e-06, 0.007005257066339254, 0.01670314371585846, 0.04901786521077156, 2.0469919945753645e-06, 0.00023115254589356482, 6.444970495067537e-05, 0.010179420933127403, 0.02251417748630047, 0.06588228791952133, 1.3362152913032332e-06, 0.00022757398255635053, 0.00011845085100503638, 0.002854317892342806, 0.018231846392154694, 0.054887983947992325, 1.9920018985430943e-06, 0.000140215692226775, 1.7674556147539988e-05, 6.681055545806885, 8.888202667236328, 13.040913581848145, 1.481923391111195e-06, 0.04164460673928261, 0.11804381012916565, 10.56282901763916, 11.236540794372559, 16.655115127563477, 0.0014911945909261703, 0.019082719460129738, 0.13666492700576782, 0.011982386931777, 2.5381767749786377, 2.051488161087036, 0.006763403303921223, 0.007768737617880106, 0.00014733377611264586, 0.0698089674115181, 0.03405967354774475, 0.09531562775373459, 2.4208593458752148e-06, 0.0006264758994802833, 0.0011413017055019736, 0.04636808857321739, 0.04953997582197189, 0.07579777389764786, 1.688455768089625e-06, 0.0006437183474190533, 0.0006642897496931255], "mean": [-0.0012336897198110819, 0.0032781134359538555, 0.009706664830446243, -0.0001246297761099413, 1.2162739722043625e-06, -1.4394218851521146e-05, -0.00015299500955734402, 0.0008475861977785826, 0.002518666908144951, -4.172391345491633e-05, 1.5076165027494426e-06, -2.6636066650098655e-06, -6.916115671629086e-05, 0.001013321802020073, 0.003021134762093425, -4.652826100937091e-05, 9.694426807982381e-07, 4.2463701999118086e-10, -0.0007602758705615997, 0.001580895041115582, 0.004660266451537609, -7.89453333709389e-05, 1.4575398381566629e-05, -1.829208486014977e-05, -0.0009086768259294331, 0.0014552302891388535, 0.004300182685256004, -7.767987699480727e-05, 9.049158506968524e-06, -1.9418392184888944e-05, 2.268885374069214, 2.073207139968872, 5.492699146270752, -0.09453067183494568, 0.011701410636305809, 0.03565726801753044, -1.1908046007156372, 1.2539290189743042, 7.054492473602295, -0.11076485365629196, -0.001857420546002686, -0.020399248227477074, -0.30740272998809814, 0.061156563460826874, 0.07886054366827011, -0.0011291933478787541, -0.0002142986049875617, -0.0042650578543543816, -0.0008274920401163399, 0.0018910779617726803, 0.005672744940966368, -0.00011597173579502851, -2.4272926566482056e-06, -1.676327156019397e-05, -0.0009965458884835243, 0.001454602344892919, 0.004236308857798576, -8.934014476835728e-05, -4.312713826948311e-06, -1.5941801393637434e-05], "std": [0.0018300361698493361, 0.004148639738559723, 0.012199957855045795, 0.00015545703354291618, 2.4473842131556012e-05, 2.391047564742621e-05, 0.0005820422666147351, 0.0013279184931889176, 0.003881229320541024, 6.482601020252332e-05, 4.667922439693939e-06, 1.1225890375499148e-05, 0.0007898092153482139, 0.0018887133337557316, 0.005575318820774555, 8.883112604962662e-05, 1.2677750419243239e-05, 1.2243292985658627e-05, 0.0022013927809894085, 0.002789778169244528, 0.008241040632128716, 0.00014733948046341538, 2.8104839657316916e-05, 4.483134762267582e-05, 0.001983886817470193, 0.0025783986784517765, 0.007635156158357859, 0.0001414967846358195, 2.1724992620875128e-05, 4.287214687792584e-05, 2.0968217849731445, 2.028812885284424, 3.85184907913208, 0.06740869581699371, 0.014581610448658466, 0.036795929074287415, 1.832567811012268, 1.5337815284729004, 5.016872406005859, 0.07924197614192963, 0.008488246239721775, 0.028053099289536476, 1.194506049156189, 0.2379533052444458, 0.22635744512081146, 0.0035577735397964716, 0.0014454576885327697, 0.017312442883849144, 0.0030915201641619205, 0.004241020884364843, 0.012631688266992569, 0.000258456653682515, 2.142163793905638e-05, 6.0131136706331745e-05, 0.012835666537284851, 0.002970165805891156, 0.008038836531341076, 0.00016834618872962892, 2.1857234969502315e-05, 0.00018185209773946553], "count": [2803]}, "timestamp": {"min": [0.0], "max": [93.4], "mean": [46.699999999999996], "std": [26.971878359176664], "count": [2803]}, "frame_index": {"min": [0], "max": [2802], "mean": [1401.0], "std": [809.1563507752998], "count": [2803]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [2803]}, "index": {"min": [137812], "max": [140614], "mean": [139213.0], "std": [809.1563507752998], "count": [2803]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2803]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5637090802192688]], [[0.5642822980880737]], [[0.564976155757904]]], "std": [[[0.30361902713775635]], [[0.30274859070777893]], [[0.30336782336235046]]], "count": [2803]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29956939816474915]], [[0.30386340618133545]], [[0.3026809096336365]]], "std": [[[0.1811780482530594]], [[0.18190598487854004]], [[0.18299788236618042]]], "count": [2803]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30936747789382935]], [[0.31292399764060974]], [[0.3107360899448395]]], "std": [[[0.18451057374477386]], [[0.1836307793855667]], [[0.1838972270488739]]], "count": [2803]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5676204562187195]], [[0.567937970161438]], [[0.5683135390281677]]], "std": [[[0.30837157368659973]], [[0.30781280994415283]], [[0.30866414308547974]]], "count": [2803]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6666666865348816]], [[0.6666666865348816]], [[0.6666666865348816]]], "mean": [[[0.004611392505466938]], [[0.004611392505466938]], [[0.004611392505466938]]], "std": [[[0.041828565299510956]], [[0.041828565299510956]], [[0.041828565299510956]]], "count": [2803]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4905995726585388]], [[0.4905995726585388]], [[0.4905995726585388]]], "std": [[[0.22159649431705475]], [[0.22159649431705475]], [[0.22159649431705475]]], "count": [2803]}}}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..92c83bedf06048deef3410e2d1382574fee0ea00
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 54,
+    "total_frames": 140615,
+    "total_tasks": 1,
+    "total_videos": 324,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:54"
+    },
+    "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",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/subtasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3fc52ebf5ee14e966ca836fed953c88d87e52c7c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,2920 @@
+{"subtask_index": 0, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right initial upper position without moving."}
+{"subtask_index": 1, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden block base, with an open hand approaching the target."}
+{"subtask_index": 2, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers close around the nut with slight adjustments to form a grip."}
+{"subtask_index": 3, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to separate it completely from the black table surface."}
+{"subtask_index": 4, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand moves the lifted green hexagonal block to position it directly above the target purple peg on the wooden block assembly."}
+{"subtask_index": 5, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers it slightly to nest the block onto the peg."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand moves the nested green hexagonal block further down the purple peg until it rests stably on the underlying stacked blocks."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly stand toward the front-left white hexagonal block on the table, without contacting the target block."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the front-left white hexagonal block on the table to establish a grip on the block."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts the block's orientation and position, and lowers it to nest onto the peg over the green base."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white cylindrical block seated on the leftmost purple peg of the wooden assembly rack, opening fingers to separate from the block."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the front-left white hexagonal nut resting on the black table surface, holding fingers slightly open during the approach."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal nut, adjusting finger positions and closing fingers around the nut to form a grip."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly rack."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the top of the rod, establishing the assembly alignment."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod and lowers it until it rests on the green support block at the base of the rod, supported by the block."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grip on the target white hexagonal nut on the table."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it upward to position above the purple rod on the wooden base."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, making small positional adjustments to fit the nut onto the rod."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the wooden base surface."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses downward on the top of the front white cylindrical peg on the wooden pegboard, pushing the peg down until it sits flush with adjacent pegs."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the left green hexagonal block on the black table surface, with fingers slightly open as it approaches the target block."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions around the left green hexagonal block on the table, gradually closing fingers to establish a stable grip on the block."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden assembly base."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the block."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block on the black table surface."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a grasp on the green hexagonal block resting on the table."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward from the lower right area of the table to above the purple rod on the wooden assembly."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly and moves the nut downward to nest onto the rod."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut nested on the purple rod."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves toward the white hexagonal nut adjacent to the wooden base on the table with an open hand, without contacting the nut."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut adjacent to the wooden base to form a grip."}
+{"subtask_index": 36, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is completely lifted off the table."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and toward the wooden block to position it directly above the purple vertical rod."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple vertical rod, until the rod inserts into the nut to form an assembly connection."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod until the nut rests stably on the existing white nut below on the wooden block."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without observable movement."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the light purple cylinder, moves it downward to insert into the corresponding hole on the wooden block rack, opens fingers to release the seated cylinder."}
+{"subtask_index": 42, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, remaining empty with fingers slightly extended."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table, closing fingers to adjust contact points and establish a grasp."}
+{"subtask_index": 44, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table and lifts it upward until the block is fully separated from the table surface."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward, moving it to the position directly above the purple rod on the wooden block rack."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod on the wooden rack, positioning it to fit onto the rod."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the white bottle with a purple cap, positions it into the empty slot on the wooden holder, fingers open to release the bottle."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward toward the green square block placed on the dark table surface."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand fingers close around the green square block on the table, making slight positional adjustments to form a grip."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped green square block completely off the dark table surface, transporting it upward and toward the wooden rack to position it directly above the purple-topped bottle."}
+{"subtask_index": 51, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand slightly rotates its wrist to align the central hole of the green square block with the top of the purple-topped bottle on the wooden rack, lowering the block to fit it securely onto the bottle top to complete the assembly."}
+{"subtask_index": 52, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the assembled green square block on top of the purple-topped bottle without any visible movement of the hand, wrist, fingers or the block."}
+{"subtask_index": 53, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the green square block seated securely on top of the purple-topped bottle."}
+{"subtask_index": 54, "subtask": "Task: TicTacToe"}
+{"subtask_index": 55, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward from the right side towards the green hexagonal block in front of the wooden peg rack."}
+{"subtask_index": 56, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table, with slight adjustments to stabilize the grip."}
+{"subtask_index": 57, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}
+{"subtask_index": 58, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the backmost purple rod on the wooden base."}
+{"subtask_index": 59, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the backmost purple rod by inserting the rod into the hole of the green block."}
+{"subtask_index": 60, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table surface."}
+{"subtask_index": 61, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 62, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the top of the target post on the rack."}
+{"subtask_index": 63, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the target post and presses it down to fit onto the post."}
+{"subtask_index": 64, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal object and slightly moves upward."}
+{"subtask_index": 65, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal part on the black tabletop."}
+{"subtask_index": 66, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal part on the black tabletop to establish grip."}
+{"subtask_index": 67, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple post on the wooden rack."}
+{"subtask_index": 68, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the leftmost purple post on the wooden rack, adjusting to fit it firmly in place."}
+{"subtask_index": 69, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the leftmost pillar of the wooden base."}
+{"subtask_index": 70, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}
+{"subtask_index": 71, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black table surface."}
+{"subtask_index": 72, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple vertical post on the wooden base."}
+{"subtask_index": 73, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical post and inserts it onto the post."}
+{"subtask_index": 74, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to fix it in place."}
+{"subtask_index": 75, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and separates from the block."}
+{"subtask_index": 76, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the table."}
+{"subtask_index": 77, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table."}
+{"subtask_index": 78, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the target column on the wooden rack."}
+{"subtask_index": 79, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target column and inserts it downwards onto the column."}
+{"subtask_index": 80, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the corresponding post of the wooden base."}
+{"subtask_index": 81, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}
+{"subtask_index": 82, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the table surface, with fingers closing to adjust the grip."}
+{"subtask_index": 83, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with pillars."}
+{"subtask_index": 84, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target pillar on the wooden base and inserts it onto the pillar."}
+{"subtask_index": 85, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block which is mounted on the pillar."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the green base on the wooden board and releases the grip."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block located on the black table to the right of the wooden board."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}
+{"subtask_index": 89, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the grip on the ring."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}
+{"subtask_index": 95, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish stable grasp."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}
+{"subtask_index": 97, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hollow block towards the target peg on the wooden rack."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hollow block onto the target peg of the wooden rack."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hollow block after placing it on the peg."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white bottle onto the wooden rack and releases it."}
+{"subtask_index": 101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table."}
+{"subtask_index": 102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}
+{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the upper position of the target white tube on the wooden rack."}
+{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white tube with a purple top by lowering the block to fit over the tube."}
+{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the white tube."}
+{"subtask_index": 106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: idle: Right hand remains empty at the right initial position with no obvious movement."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block in front-left of the wooden block stand, with fingers kept open."}
+{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close and make small adjustments to establish a stable grip on the block which remains on the table surface."}
+{"subtask_index": 109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no observable movement of the hand, wrist, fingers or the block."}
+{"subtask_index": 110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around and securely grasp the green hexagonal block resting on the adjacent green base."}
+{"subtask_index": 111, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the green base."}
+{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the wooden rack to position it directly above the target purple rod."}
+{"subtask_index": 113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden rack and lowers the block to fit onto the rod."}
+{"subtask_index": 114, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod of the wooden rack without observable movement."}
+{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: press: Right hand presses the top white hexagonal block on the purple peg of the wooden assembly stand vertically downward to seat it firmly on the peg."}
+{"subtask_index": 116, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and leftward away from the wooden stand toward the loose white hexagonal block on the black table surface, staying out of contact with the target block during movement."}
+{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand contacts the target loose white hexagonal block on the table, adjusting finger positions and closing fingers around the block to establish a stable grasp."}
+{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the target purple rod on the wooden rack."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it downward to fit securely onto the green base mounted on the rod."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, breaking contact with the nut by the end of the segment."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the purple rod on the wooden base and releases the stably placed block."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface."}
+{"subtask_index": 123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers closing and adjusting to establish a grasp on the block."}
+{"subtask_index": 124, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}
+{"subtask_index": 125, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod on the wooden block, and lowers the nut to fit onto the rod with slight position adjustments."}
+{"subtask_index": 126, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut that is fitted onto the purple rod."}
+{"subtask_index": 127, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward from above the wooden block stand toward the white hexagonal block placed in front of the stand."}
+{"subtask_index": 128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a grip."}
+{"subtask_index": 129, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, transporting it upward and backward to position it directly above the target purple vertical peg on the wooden peg base."}
+{"subtask_index": 130, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target purple vertical peg, lowering the nut along the peg to fit it into the assembly position on the wooden base."}
+{"subtask_index": 131, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block."}
+{"subtask_index": 132, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}
+{"subtask_index": 133, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to grasp the green hexagonal block on the table."}
+{"subtask_index": 134, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the wooden peg base."}
+{"subtask_index": 135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden base, moves the block downward to fit it onto the peg until it rests on the lower supporting block."}
+{"subtask_index": 136, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release_retreat: Right hand opens fingers to release the green hexagonal block secured on the peg, moves the empty hand downward away from the assembly area."}
+{"subtask_index": 137, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand, empty, moves downward from the area near the wooden block assembly toward the green hexagonal block on the black table surface with an open hand."}
+{"subtask_index": 138, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a grip on the block."}
+{"subtask_index": 139, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward off the dark table surface."}
+{"subtask_index": 140, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward to the position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 141, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod, makes small positional adjustments, and lowers the nut to fit onto the rod."}
+{"subtask_index": 142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves down and right from the stacked block assembly, approaching the white hexagonal block on the table surface."}
+{"subtask_index": 143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the white hexagonal block, fingers close around the block with slight adjustments to establish a grasp."}
+{"subtask_index": 144, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully raised off the table."}
+{"subtask_index": 145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the empty mounting position on the wooden assembly board."}
+{"subtask_index": 146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty mounting post on the wooden assembly board, adjusting its position slightly to fit the block securely onto the post."}
+{"subtask_index": 147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block, separating the fingers from the block surface."}
+{"subtask_index": 148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the dark table surface, with fingers open approaching the target object."}
+{"subtask_index": 149, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish initial contact and grip."}
+{"subtask_index": 150, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without any observable movement."}
+{"subtask_index": 151, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is completely off the dark table surface."}
+{"subtask_index": 152, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the held white hexagonal block toward the area above the purple rod on the wooden block stand."}
+{"subtask_index": 153, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod."}
+{"subtask_index": 154, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to separate from the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 155, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward from the wooden block holder area toward the small green block on the black table surface, with fingers extended as it approaches the target block."}
+{"subtask_index": 156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the small green block on the table, closing fingers and adjusting contact positions to form a grip on the block."}
+{"subtask_index": 157, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the green cubic block stationary on the dark gray table surface with no visible movement."}
+{"subtask_index": 158, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the green cubic block off the dark gray table surface and moves it upward and leftward to the position directly above the white pump bottle on the wooden rack."}
+{"subtask_index": 159, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand holds the green cubic block and makes slight positional adjustments to align the block's central hole with the top of the white pump bottle."}
+{"subtask_index": 160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand lowers the aligned green cubic block onto the white pump bottle cap and opens its fingers to release the block."}
+{"subtask_index": 161, "subtask": "Left hand: other:adjust_hand_pose: Left hand adjusts its pose at the left side of the table, with wrist slightly rotating and fingers gradually spreading, no object contacted. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut at the bottom left of the wooden board, without touching the object."}
+{"subtask_index": 162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut at the bottom left of the wooden board, without touching the object."}
+{"subtask_index": 163, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 164, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal nut on the table without moving."}
+{"subtask_index": 165, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table near the wooden peg base, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it toward the leftmost purple peg of the wooden base."}
+{"subtask_index": 167, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green block onto the leftmost purple peg, then releases the green block."}
+{"subtask_index": 168, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white block on top of the leftmost peg and grasps it."}
+{"subtask_index": 169, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the top of the leftmost peg without moving."}
+{"subtask_index": 170, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block downward along the leftmost purple peg to adjust its position."}
+{"subtask_index": 171, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block onto the purple peg of the wooden base and releases the block."}
+{"subtask_index": 172, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}
+{"subtask_index": 173, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 174, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the leftmost purple peg on the wooden rack."}
+{"subtask_index": 175, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and lowers it to fit onto the peg for assembly."}
+{"subtask_index": 176, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the purple peg of the wooden base, with fingers opening."}
+{"subtask_index": 177, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface, keeping empty."}
+{"subtask_index": 178, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 179, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part above the black table surface without moving."}
+{"subtask_index": 180, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 181, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward toward the topmost purple rod on the pegboard."}
+{"subtask_index": 182, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the topmost purple rod and lowers it onto the rod to complete the fitting."}
+{"subtask_index": 183, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the topmost purple rod without moving."}
+{"subtask_index": 184, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the stacking set, with fingers opening and moving upward slightly."}
+{"subtask_index": 185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking set toward the white hexagonal piece on the black table surface."}
+{"subtask_index": 186, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table surface, with fingers closing around the piece to form a stable grip."}
+{"subtask_index": 187, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}
+{"subtask_index": 188, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the wooden base."}
+{"subtask_index": 189, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it onto the peg to complete the nesting assembly."}
+{"subtask_index": 190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}
+{"subtask_index": 191, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}
+{"subtask_index": 192, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}
+{"subtask_index": 193, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 194, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple rod on the central wooden rack."}
+{"subtask_index": 195, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by aligning and inserting it onto the rod."}
+{"subtask_index": 196, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple rod to push it into position."}
+{"subtask_index": 197, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}
+{"subtask_index": 198, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal part on the table, with no contact to the target part."}
+{"subtask_index": 199, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal part on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the top of the purple rod on the wooden rack, aligning the inner hole with the rod."}
+{"subtask_index": 202, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal part downward along the purple rod until it is supported by the green block at the bottom of the rod."}
+{"subtask_index": 203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the purple rod, with fingers opening and separating from the part."}
+{"subtask_index": 204, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table surface, moving downward and rightward."}
+{"subtask_index": 205, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 206, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal column from the table and moves it toward the purple rod on the wooden rack."}
+{"subtask_index": 207, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hollow hexagonal column onto the purple rod to complete assembly."}
+{"subtask_index": 208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal column on the purple rod without moving."}
+{"subtask_index": 209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases it."}
+{"subtask_index": 210, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}
+{"subtask_index": 212, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}
+{"subtask_index": 213, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod through the block's central hole."}
+{"subtask_index": 214, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}
+{"subtask_index": 215, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white cylinder on the wooden base, moving the cylinder downward slightly."}
+{"subtask_index": 216, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic object with a square hole on the dark table surface."}
+{"subtask_index": 217, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green cubic object on the dark table surface."}
+{"subtask_index": 218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it left-upward to the top of the rightmost white bottle on the wooden rack."}
+{"subtask_index": 219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the rightmost white bottle and fits it down onto the bottle, with minor position adjustments during the process."}
+{"subtask_index": 220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the bottle, with fingers opening and separating from the ring."}
+{"subtask_index": 221, "subtask": "Left hand: return_home: Left hand moves from initial position to home position and stops. | Right hand: reach: Right hand moves towards the green hexagonal block on the left side of the table."}
+{"subtask_index": 222, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the left side of the table."}
+{"subtask_index": 223, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the left side of the table."}
+{"subtask_index": 224, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}
+{"subtask_index": 225, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple rod."}
+{"subtask_index": 226, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple rod by fitting it onto the rod."}
+{"subtask_index": 227, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 228, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 229, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden rack."}
+{"subtask_index": 230, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod on the wooden rack."}
+{"subtask_index": 231, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 232, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}
+{"subtask_index": 233, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 234, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts its finger position to approach and prepare to grasp the white hexagonal block on the table."}
+{"subtask_index": 235, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 236, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple rod on the wooden rack."}
+{"subtask_index": 237, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}
+{"subtask_index": 238, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix its position."}
+{"subtask_index": 239, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white annular object onto the purple post of the wooden base."}
+{"subtask_index": 240, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white annular object on the black tabletop."}
+{"subtask_index": 241, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white annular object on the black tabletop."}
+{"subtask_index": 242, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}
+{"subtask_index": 243, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 244, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}
+{"subtask_index": 245, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downwards towards the green block on the black tabletop."}
+{"subtask_index": 246, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand grasps the green block on the black tabletop, with fingers adjusting to form a stable grip."}
+{"subtask_index": 247, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the target peg on the wooden base."}
+{"subtask_index": 248, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden base."}
+{"subtask_index": 249, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 250, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 251, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and transports it to the upper area of the wooden rack."}
+{"subtask_index": 252, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white cylindrical part with the corresponding post on the wooden rack by aligning and inserting it downwards."}
+{"subtask_index": 253, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base's peg and releases the block."}
+{"subtask_index": 254, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 255, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}
+{"subtask_index": 256, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it to the area above the purple rod on the wooden board."}
+{"subtask_index": 257, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder with the purple rod by aligning and inserting it onto the rod."}
+{"subtask_index": 258, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple rod on the wooden base and releases contact with the block."}
+{"subtask_index": 259, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: retreat: Right hand moves away from the wooden base assembly area."}
+{"subtask_index": 260, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}
+{"subtask_index": 261, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 262, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface until it is completely off the surface."}
+{"subtask_index": 263, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the purple rod on the wooden rack."}
+{"subtask_index": 264, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden rack."}
+{"subtask_index": 265, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by pressing it down to fit in position."}
+{"subtask_index": 266, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp_release: Right hand adjusts its grasp on and releases the white cylinder on the wooden tray."}
+{"subtask_index": 267, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}
+{"subtask_index": 268, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}
+{"subtask_index": 269, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the rightmost white bottle on the wooden rack."}
+{"subtask_index": 270, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white bottle on the wooden rack."}
+{"subtask_index": 271, "subtask": "Left hand: idle: Left hand remains empty at home position without moving. | Right hand: place_release: Right hand places the green block onto the rightmost white bottle and then releases the block."}
+{"subtask_index": 272, "subtask": "Left hand: return_home: Left hand moves upward and slightly inward from its initial outer left position to the front left resting position, with fingers adjusting from a fully extended posture to a slightly curved, relaxed posture. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block near the wooden block stand, with fingers extended, and does not contact the block during this movement."}
+{"subtask_index": 273, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block near the wooden block stand, with fingers extended, and does not contact the block during this movement."}
+{"subtask_index": 274, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block resting on the table surface, fingers close around the block and make small positional adjustments to form a grip, while the block remains supported by the table."}
+{"subtask_index": 275, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple peg on the wooden assembly base."}
+{"subtask_index": 276, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers the block to fit it onto the peg."}
+{"subtask_index": 277, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}
+{"subtask_index": 278, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the left purple peg of the wooden stand, with fingers opening to release the seated block."}
+{"subtask_index": 279, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the table surface in front of the wooden stand."}
+{"subtask_index": 280, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grip on the nut."}
+{"subtask_index": 281, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it to the position directly above the target purple post on the wooden assembly rack."}
+{"subtask_index": 282, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the target purple post, and adjusts the nut's position to fit it down onto the post."}
+{"subtask_index": 283, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold_release: Right hand holds the white cylindrical block on the wooden rack and opens fingers to release contact with the block."}
+{"subtask_index": 284, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface."}
+{"subtask_index": 285, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}
+{"subtask_index": 286, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}
+{"subtask_index": 287, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the white hexagonal block upward and rightward to the position above the purple peg on the wooden assembly stand."}
+{"subtask_index": 288, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden stand and lowers the block to fit it onto the peg."}
+{"subtask_index": 289, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand places the white cylindrical block onto the corresponding peg of the wooden assembly stand, presses it down to secure it and releases the block."}
+{"subtask_index": 290, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned next to the wooden assembly stand on the table surface."}
+{"subtask_index": 291, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a firm grip."}
+{"subtask_index": 292, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift: Right hand firmly holds the white hexagonal block resting on the dark table surface, lifts the block vertically upward until it is no longer in contact with the table surface."}
+{"subtask_index": 293, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air, moving it toward the position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 294, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod, making small wrist and finger adjustments to align the parts properly."}
+{"subtask_index": 295, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the green hexagonal block on the table, staying empty."}
+{"subtask_index": 296, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes around the target green hexagonal block on the table, making contact and adjusting to form a stable grasp."}
+{"subtask_index": 297, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the position above the wooden block assembly stand."}
+{"subtask_index": 298, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post on the wooden stand, lowers the block and makes small positional adjustments to fit the block onto the post."}
+{"subtask_index": 299, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the topmost white cylindrical block on the wooden assembly rack."}
+{"subtask_index": 300, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward from the wooden assembly rack toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 301, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a grip on the nut."}
+{"subtask_index": 302, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod on the wooden assembly base."}
+{"subtask_index": 303, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod, and makes small adjustments to secure the fit."}
+{"subtask_index": 304, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves from above the stacked wooden block set toward the white hexagonal nut placed on the table to the right front of the blocks, keeping fingers open while approaching the target object."}
+{"subtask_index": 305, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table to form a grip on the object."}
+{"subtask_index": 306, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}
+{"subtask_index": 307, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it toward the purple rod on the wooden block base."}
+{"subtask_index": 308, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits it onto the rod with small position adjustments."}
+{"subtask_index": 309, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the seated position on the purple rod and opens fingers to release the nut."}
+{"subtask_index": 310, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary adjacent to the right side of the wooden block rack, with no visible movement or contact with grasped objects."}
+{"subtask_index": 311, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the black table, fingers held extended, approaching the target without making contact."}
+{"subtask_index": 312, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually closing around the nut to adjust grip position, with no stable grasp yet achieved."}
+{"subtask_index": 313, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the right area of the black table surface without moving."}
+{"subtask_index": 314, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position above the empty slot on the wooden block stand."}
+{"subtask_index": 315, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits it onto the rod until it rests stably on the stand."}
+{"subtask_index": 316, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the assembled white hexagonal block on the wooden stand."}
+{"subtask_index": 317, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area of the wooden bottle rack toward the green cubic block on the dark table surface, lifting its index finger off a purple-capped bottle cap as it moves, remaining empty as it approaches the block."}
+{"subtask_index": 318, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the green cubic block resting on the dark table surface to form a stable grip on the block."}
+{"subtask_index": 319, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green holed block resting on the right area of the black table surface without moving."}
+{"subtask_index": 320, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green holed block off the table surface, transporting the block upward and leftward to the position above the unoccupied peg on the light wooden rack."}
+{"subtask_index": 321, "subtask": "Left hand: idle: Left hand stays empty and stationary at the front left resting position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green holed block with the target peg on the light wooden rack, moving the block downward to fit the block securely onto the peg."}
+{"subtask_index": 322, "subtask": "Left hand: other:adjust_posture: Left hand moves slightly upward and rotates its wrist with fingers opening, remaining empty and not contacting any object. | Right hand: reach: Right hand moves leftward and downward from the right side of the table, approaching the green hexagonal block near the left side of the wooden pegboard."}
+{"subtask_index": 323, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table, approaching the green hexagonal block near the left side of the wooden pegboard."}
+{"subtask_index": 324, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making slight posture adjustments to stabilize the grasp."}
+{"subtask_index": 325, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the leftmost peg of the wooden pegboard."}
+{"subtask_index": 326, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it down onto the peg, making small adjustments to complete the assembly."}
+{"subtask_index": 327, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg, with fingers opening to separate from the piece."}
+{"subtask_index": 328, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hollow hexagonal piece on the black table."}
+{"subtask_index": 329, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 330, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the black table surface without moving."}
+{"subtask_index": 331, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white hexagonal nut resting on the black table surface, with fingers making small grip adjustments."}
+{"subtask_index": 332, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it rightward and upward to the area above a purple peg on the wooden pegboard."}
+{"subtask_index": 333, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and fits the nut onto the peg."}
+{"subtask_index": 334, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press_release: Right hand presses the white hexagonal nut downward along the purple peg to the peg base and releases its grip on the nut."}
+{"subtask_index": 335, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post on the wooden base."}
+{"subtask_index": 336, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}
+{"subtask_index": 337, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}
+{"subtask_index": 338, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}
+{"subtask_index": 339, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while moving it toward the front-left purple rod of the test tube rack."}
+{"subtask_index": 340, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the front-left purple rod by aligning its hole with the rod and inserting it downward."}
+{"subtask_index": 341, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the front-left purple rod without moving."}
+{"subtask_index": 342, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal object on the front-left purple rod and retreats slightly upward."}
+{"subtask_index": 343, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table below the wooden rack."}
+{"subtask_index": 344, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 345, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 346, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 347, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 348, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, adjusting the part's position to fit onto the peg."}
+{"subtask_index": 349, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the purple peg and retreats slightly upward from the part."}
+{"subtask_index": 350, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg of the wooden base."}
+{"subtask_index": 351, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}
+{"subtask_index": 352, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing and adjusting."}
+{"subtask_index": 353, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the middle peg of the peg board."}
+{"subtask_index": 354, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the middle peg of the peg board by aligning and lowering it."}
+{"subtask_index": 355, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the green cubic block on the middle peg of the peg board without moving."}
+{"subtask_index": 356, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg on the wooden base."}
+{"subtask_index": 357, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 358, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers closing to adjust grip."}
+{"subtask_index": 359, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}
+{"subtask_index": 360, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the green block, with fingers closing to secure the grip."}
+{"subtask_index": 361, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the green block to the upper position of the wooden rack."}
+{"subtask_index": 362, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the green post of the wooden rack via aligning and inserting."}
+{"subtask_index": 363, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the green post of the wooden rack without moving."}
+{"subtask_index": 364, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod by opening its fingers and moving slightly upward."}
+{"subtask_index": 365, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves rightward and downward toward the upper white hexagonal block on the table, with fingers slightly open."}
+{"subtask_index": 366, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table by closing its fingers around the block."}
+{"subtask_index": 367, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple rod by aligning the central hole and lowering the piece onto the rod."}
+{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white block with a purple rod on the wooden base."}
+{"subtask_index": 370, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting slightly."}
+{"subtask_index": 372, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the right side of the wooden rack."}
+{"subtask_index": 373, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the purple rod on the wooden rack, inserting it downward along the rod to the bottom position."}
+{"subtask_index": 374, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press: Right hand presses the white cylinder with purple top into the hole of the wooden rack."}
+{"subtask_index": 375, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the white cylinder with purple top on the wooden rack, with fingers opening."}
+{"subtask_index": 376, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table."}
+{"subtask_index": 377, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table, with fingers closing around it."}
+{"subtask_index": 378, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: lift_transport: Right hand lifts the green holed square block from the table and transports it upward and leftward toward the rightmost column of the bottle rack."}
+{"subtask_index": 379, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: mate: Right hand aligns the green holed square block with the top of the target white bottle and fits it onto the bottle."}
+{"subtask_index": 380, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: hold: Right hand holds the green holed square block on the target white bottle without moving."}
+{"subtask_index": 381, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: press: Right hand presses the green holed square block downward along the target bottle to secure it."}
+{"subtask_index": 382, "subtask": "Left hand: idle: Left hand remains empty at the left upper area above the table without moving. | Right hand: release: Right hand releases the green holed square block, with fingers opening and separating from the block."}
+{"subtask_index": 383, "subtask": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}
+{"subtask_index": 384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}
+{"subtask_index": 385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block stably on the table without movement."}
+{"subtask_index": 387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black tabletop, with fingers adjusting to form stable grip."}
+{"subtask_index": 388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it to the area above the purple rod on the wooden base."}
+{"subtask_index": 389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and inserts the block onto the rod."}
+{"subtask_index": 390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}
+{"subtask_index": 391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg of the wooden base."}
+{"subtask_index": 392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green hexagonal block placed on the black table surface."}
+{"subtask_index": 393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to the upper position of the leftmost purple post on the wooden rack."}
+{"subtask_index": 395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal object with the leftmost purple post and pushes it down to complete the mating."}
+{"subtask_index": 396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object fitted on the purple post, with fingers opening to separate from the object."}
+{"subtask_index": 397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the leftmost purple post position after releasing the object."}
+{"subtask_index": 398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black tabletop to establish stable grasp."}
+{"subtask_index": 401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden rack."}
+{"subtask_index": 402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}
+{"subtask_index": 404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from the block."}
+{"subtask_index": 405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts finger positions to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple rod on the wooden base."}
+{"subtask_index": 408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}
+{"subtask_index": 409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}
+{"subtask_index": 410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}
+{"subtask_index": 411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}
+{"subtask_index": 412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}
+{"subtask_index": 413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the white peg on the wooden rack."}
+{"subtask_index": 414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white peg and lowers it to mate the block onto the peg."}
+{"subtask_index": 415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the peg on the wooden base and releases the block."}
+{"subtask_index": 416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}
+{"subtask_index": 417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to prepare for grasping the white hexagonal block on the black table surface."}
+{"subtask_index": 418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden rack."}
+{"subtask_index": 419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack by aligning and inserting it downwards."}
+{"subtask_index": 420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the purple rod of the wooden base."}
+{"subtask_index": 421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}
+{"subtask_index": 422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black table surface."}
+{"subtask_index": 423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the wooden base."}
+{"subtask_index": 426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal object off the black table surface."}
+{"subtask_index": 429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal object to the position above the purple rod on the wooden base."}
+{"subtask_index": 430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the purple rod, fitting it down onto the rod."}
+{"subtask_index": 431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object, opening fingers to separate from the object."}
+{"subtask_index": 432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the black table surface."}
+{"subtask_index": 433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green hollow block on the table, fingers adjust to form a stable grasp on the block."}
+{"subtask_index": 434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the right side of the table surface."}
+{"subtask_index": 435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple top on the wooden base."}
+{"subtask_index": 436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the white bottle and fits it down onto the bottle."}
+{"subtask_index": 437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that is already fitted on the white bottle."}
+{"subtask_index": 438, "subtask": "Left hand: other:adjust_finger_posture: Left hand adjusts finger postures with slight finger movements while remaining at the left side of the workspace, holding no objects. | Right hand: idle: Right hand remains empty on the right side of the workspace without any visible movement."}
+{"subtask_index": 439, "subtask": "Left hand: other:adjust_finger_posture: Left hand adjusts finger postures with slight finger movements while remaining at the left side of the workspace, holding no objects. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden rack, with fingers slightly open."}
+{"subtask_index": 440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden rack, with fingers slightly open."}
+{"subtask_index": 441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip."}
+{"subtask_index": 442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without any visible movement of the hand or the block."}
+{"subtask_index": 443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the black table surface."}
+{"subtask_index": 444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it to a position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg, and lowers the block down the peg until it rests stably on the wooden base while making fine positional adjustments."}
+{"subtask_index": 446, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the table surface, remaining empty with no contact to the target block."}
+{"subtask_index": 447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, with the block remaining resting on the table surface."}
+{"subtask_index": 448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table surface, with no visible movement of the hand, fingers or the block."}
+{"subtask_index": 449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal nut resting on the green supporting block."}
+{"subtask_index": 450, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to fully separate it from the green supporting block on the table."}
+{"subtask_index": 451, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and rightward to position it directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 452, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}
+{"subtask_index": 453, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg."}
+{"subtask_index": 454, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the top white cylindrical block on the wooden assembly rack downward to fully seat it onto the support peg."}
+{"subtask_index": 455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty from the assembly rack toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 456, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small adjustments to form a secure grip on the object."}
+{"subtask_index": 457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}
+{"subtask_index": 458, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden assembly base, positioning the nut above the target rod."}
+{"subtask_index": 459, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod below, lowering the nut vertically to fit it onto the rod."}
+{"subtask_index": 460, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses downward on the top surface of the topmost white cylindrical block on the wooden assembly stand to secure it fully onto the support post."}
+{"subtask_index": 461, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and toward the front-left white hexagonal nut placed on the black table surface, remaining empty with fingers slightly open, without contacting the nut during movement."}
+{"subtask_index": 462, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand contacts the front-left white hexagonal nut on the table, fingers gradually close and make small positional adjustments to establish a stable grip on the nut."}
+{"subtask_index": 463, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}
+{"subtask_index": 464, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple peg on the wooden block base."}
+{"subtask_index": 465, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}
+{"subtask_index": 466, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downwards and leftwards from the top of the wooden pegboard toward the nearby green hexagonal block on the black table surface, with fingers kept open, no contact with the target block."}
+{"subtask_index": 467, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers adjust positions and close gradually around the block, with visible fine movements of fingers and wrist to establish a stable grip."}
+{"subtask_index": 468, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, transports it to the purple peg on the wooden base and fits the block onto the peg."}
+{"subtask_index": 469, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}
+{"subtask_index": 470, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand moves the purple rod downward to align and insert it into the green block on the wooden assembly base."}
+{"subtask_index": 471, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward while empty to approach the green hexagonal block resting on the dark table surface."}
+{"subtask_index": 472, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting fingers to close around and form a grip on the block."}
+{"subtask_index": 473, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the dark table surface."}
+{"subtask_index": 474, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand transports the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden block assembly base."}
+{"subtask_index": 475, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, makes slight positional adjustments, and lowers the nut to fit onto the rod."}
+{"subtask_index": 476, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the area above the wooden bottle rack toward the small white hexagonal nut on the dark table surface, with fingers held open as it approaches the target object."}
+{"subtask_index": 477, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal nut on the table, making slight positional adjustments to the fingers to establish a secure grip on the object."}
+{"subtask_index": 478, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and moves it upward to the area above the purple vertical rod mounted on the wooden block stand."}
+{"subtask_index": 479, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal block to align its central opening with the purple vertical rod, fitting the block onto the rod."}
+{"subtask_index": 480, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until the block rests securely on the top surface of the adjacent white block on the wooden stand."}
+{"subtask_index": 481, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: retreat: Right hand moves away from the wooden block rack area towards the lower right of the table, remaining empty with slight finger adjustments during movement."}
+{"subtask_index": 482, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, keeping fingers open while approaching the target."}
+{"subtask_index": 483, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal nut on the table, adjusting finger positions to establish a grasp on the nut."}
+{"subtask_index": 484, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut on the dark table surface without moving."}
+{"subtask_index": 485, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and transports it upward to the position directly above the purple rod on the wooden block assembly stand."}
+{"subtask_index": 486, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple rod, lowers the nut to fit it onto the rod to complete the mating action."}
+{"subtask_index": 487, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod."}
+{"subtask_index": 488, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without obvious movement."}
+{"subtask_index": 489, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the purple-topped white cylinder placed on the wooden rack, separating from the cylinder."}
+{"subtask_index": 490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves rightward and downward toward the green square block on the table with an open hand posture."}
+{"subtask_index": 491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger positions to establish a grasp."}
+{"subtask_index": 492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green square block resting on the dark gray table surface with no visible movement or grip adjustment."}
+{"subtask_index": 493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and transports it upward toward the top of the rightmost white bottle placed on the wooden rack."}
+{"subtask_index": 494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_release: Right hand makes small positional adjustments to the green block to align its central hole with the top of the target white bottle, fits the block securely onto the bottle top and opens its fingers to release the block."}
+{"subtask_index": 495, "subtask": "Left hand: other:open_fingers: Left hand opens its fingers while staying at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the pegboard, with the wrist rotating slightly to face downward."}
+{"subtask_index": 496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the pegboard, with the wrist rotating slightly to face downward."}
+{"subtask_index": 497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}
+{"subtask_index": 498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the front-left peg of the purple pegboard."}
+{"subtask_index": 501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the front-left peg of the purple pegboard by lowering and aligning the block onto the peg."}
+{"subtask_index": 502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left peg of the purple pegboard without moving."}
+{"subtask_index": 503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base, releasing the ring with fingers opening."}
+{"subtask_index": 504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black table surface."}
+{"subtask_index": 505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the black table surface with fingers closing around it."}
+{"subtask_index": 506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring on the black table surface without moving."}
+{"subtask_index": 507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting its fingers to stabilize the grip."}
+{"subtask_index": 508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the front-left purple post of the test tube rack."}
+{"subtask_index": 509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the front-left purple post of the test tube rack by aligning and lowering it onto the post."}
+{"subtask_index": 510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple post without moving."}
+{"subtask_index": 511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}
+{"subtask_index": 512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}
+{"subtask_index": 514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it towards the wooden rack with purple rods."}
+{"subtask_index": 517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple rod of the wooden rack, adjusting position to fit onto the rod."}
+{"subtask_index": 518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring block onto the top of the right purple peg and releases it."}
+{"subtask_index": 519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}
+{"subtask_index": 520, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}
+{"subtask_index": 521, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block above the green block on the table without moving."}
+{"subtask_index": 522, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack, adjusting its fingers to form a stable grip."}
+{"subtask_index": 523, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and leftward to the top of the front purple rod on the wooden rack."}
+{"subtask_index": 524, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front purple rod of the wooden rack, lowering the block along the rod until it rests at the bottom."}
+{"subtask_index": 525, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}
+{"subtask_index": 526, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block on the purple rod."}
+{"subtask_index": 527, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the rightmost rod of the wooden board and moves downward toward the green hexagonal block on the table."}
+{"subtask_index": 528, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, closing and adjusting its fingers to form a stable grip."}
+{"subtask_index": 529, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface."}
+{"subtask_index": 530, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden board."}
+{"subtask_index": 531, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it onto the rod."}
+{"subtask_index": 532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod with fingers opening."}
+{"subtask_index": 533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}
+{"subtask_index": 534, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the wooden base."}
+{"subtask_index": 535, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}
+{"subtask_index": 536, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing to form a stable grip."}
+{"subtask_index": 537, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block to leave the black table surface."}
+{"subtask_index": 538, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward towards the wooden rack with cylindrical posts."}
+{"subtask_index": 539, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target cylindrical post of the wooden rack, adjusting its position to fit."}
+{"subtask_index": 540, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-right post of the wooden base, with fingers opening and separating from the block."}
+{"subtask_index": 541, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base, with fingers slightly open."}
+{"subtask_index": 542, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table near the wooden base, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 543, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward to above the purple rod."}
+{"subtask_index": 544, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits it down onto the rod to complete assembly."}
+{"subtask_index": 545, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the purple small component onto the front-right column of the wooden base and releases its grip."}
+{"subtask_index": 546, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table."}
+{"subtask_index": 547, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part at the right lower area of the table without moving."}
+{"subtask_index": 548, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and leftward toward the purple rod on the wooden base."}
+{"subtask_index": 549, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod by aligning the hole and inserting it downward onto the rod."}
+{"subtask_index": 550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with a purple rod at the rightmost bottom slot of the wooden base, fingers open to separate from the bottle."}
+{"subtask_index": 551, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table with empty hand."}
+{"subtask_index": 552, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the green square block on the black table without moving."}
+{"subtask_index": 553, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table, fingers close around the block."}
+{"subtask_index": 554, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green block off the table surface."}
+{"subtask_index": 555, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftwards and upwards towards the wooden rack with white cylinders."}
+{"subtask_index": 556, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white cylinder with a purple top on the wooden rack."}
+{"subtask_index": 557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the rightmost white cylinder without moving."}
+{"subtask_index": 558, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}
+{"subtask_index": 559, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightwards and upwards away from the wooden rack."}
+{"subtask_index": 560, "subtask": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture at the left side of the table, with fingers extending slightly forward. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block placed in front of the wooden peg base."}
+{"subtask_index": 561, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block placed in front of the wooden peg base."}
+{"subtask_index": 562, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers adjust to form a stable grasp on the block."}
+{"subtask_index": 563, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the purple peg on the wooden base."}
+{"subtask_index": 564, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base by inserting the block onto the peg."}
+{"subtask_index": 565, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 566, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black tabletop to form a stable grasp."}
+{"subtask_index": 567, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base on the table and transports it towards the purple rod on the test tube rack."}
+{"subtask_index": 568, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it down onto the rod."}
+{"subtask_index": 569, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 570, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}
+{"subtask_index": 571, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}
+{"subtask_index": 572, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 573, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 574, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}
+{"subtask_index": 575, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base, until the block is stably supported."}
+{"subtask_index": 576, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 577, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}
+{"subtask_index": 578, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}
+{"subtask_index": 579, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: transport: Right hand transports the white cylindrical object above the purple peg on the wooden base."}
+{"subtask_index": 580, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg and fits it onto the peg."}
+{"subtask_index": 581, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand gradually opens its fingers to release the white cylindrical object."}
+{"subtask_index": 582, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple peg on the wooden base."}
+{"subtask_index": 583, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}
+{"subtask_index": 584, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table surface."}
+{"subtask_index": 585, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the target post on the wooden rack."}
+{"subtask_index": 586, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the green block with the target post on the wooden rack and fits it onto the post."}
+{"subtask_index": 587, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: press: Right hand presses the green block onto the peg on the wooden tray."}
+{"subtask_index": 588, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 589, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}
+{"subtask_index": 590, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the wooden rack with posts."}
+{"subtask_index": 591, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the target post on the wooden rack and presses it down to complete the assembly."}
+{"subtask_index": 592, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the wooden base, fingers open and move away from the cylinder."}
+{"subtask_index": 593, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves towards the white ring on the black table surface."}
+{"subtask_index": 594, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts finger posture to approach and prepare grasping the white ring on the black table."}
+{"subtask_index": 595, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple peg on the wooden base."}
+{"subtask_index": 596, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 597, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block from its grip."}
+{"subtask_index": 598, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black tabletop."}
+{"subtask_index": 599, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal object on the black tabletop."}
+{"subtask_index": 600, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it above the purple rod on the wooden rack."}
+{"subtask_index": 601, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden rack."}
+{"subtask_index": 602, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: press: Right hand presses the white cylindrical block on the wooden base to push it down."}
+{"subtask_index": 603, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden base toward the green square block on the table."}
+{"subtask_index": 604, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the black table."}
+{"subtask_index": 605, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it to above the rightmost white bottle on the wooden rack."}
+{"subtask_index": 606, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: mate: Right hand aligns the green cube with the top opening of the rightmost white bottle on the wooden rack."}
+{"subtask_index": 607, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: place_press: Right hand places the green cube onto the rightmost white bottle and presses it down to fit tightly on the bottle."}
+{"subtask_index": 608, "subtask": "Left hand: idle: Left hand remains empty and stays still at the left side of the table. | Right hand: release: Right hand releases the green cube by opening its fingers, leaving the cube fitted on the white bottle."}
+{"subtask_index": 609, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: idle: Right hand remains empty at the right home position with no obvious positional movement, only minor initial finger adjustment."}
+{"subtask_index": 610, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut near the wooden base, with fingers slightly open."}
+{"subtask_index": 611, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal nut on the black table surface to form a grip."}
+{"subtask_index": 612, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and transports it to a position directly above the purple peg on the wooden assembly rack."}
+{"subtask_index": 613, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}
+{"subtask_index": 614, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block fitted onto the purple peg."}
+{"subtask_index": 615, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the black table surface."}
+{"subtask_index": 616, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand contacts the white hexagonal nut, closing fingers and adjusting positions to form a stable grip on the nut."}
+{"subtask_index": 617, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand moves the grasped white hexagonal nut upward until the nut is completely separated from the table surface."}
+{"subtask_index": 618, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand holds the lifted white hexagonal nut and continues moving it upward through the air."}
+{"subtask_index": 619, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}
+{"subtask_index": 620, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully raising it off the black table surface."}
+{"subtask_index": 621, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air toward the purple rod on the wooden block stand."}
+{"subtask_index": 622, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden stand and lowers it to fit onto the rod."}
+{"subtask_index": 623, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the object."}
+{"subtask_index": 624, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal nut on the black table surface, with fingers held in a slightly spread posture."}
+{"subtask_index": 625, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the black table, adjusting finger contact positions to form a grip, with the nut remaining in contact with the table surface."}
+{"subtask_index": 626, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand firmly holds the white hexagonal nut and lifts it upward until the nut is completely separated from the table surface."}
+{"subtask_index": 627, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it directly above the target cylindrical peg on the wooden assembly base."}
+{"subtask_index": 628, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target peg, and moves the nut downward slightly to fit it onto the top of the peg."}
+{"subtask_index": 629, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the target peg without any observable movement of the hand or nut."}
+{"subtask_index": 630, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut and moves it downward further to fit it more securely onto the target peg."}
+{"subtask_index": 631, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut in front of the wooden assembly base, with fingers extended during the approach."}
+{"subtask_index": 632, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut to establish a grip, with the nut remaining on the table surface."}
+{"subtask_index": 633, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, and lifts the nut upward until it is fully separated from the table surface."}
+{"subtask_index": 634, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it upward and toward the purple vertical rod on the wooden block assembly until the nut is positioned directly above the rod."}
+{"subtask_index": 635, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, and slides the nut downward along the rod to fit it onto the rod assembly."}
+{"subtask_index": 636, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, and moves the fingers away from the nut surface."}
+{"subtask_index": 637, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the table surface, staying empty and not contacting any object during movement."}
+{"subtask_index": 638, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand contacts the green hexagonal block, adjusting finger positions and closing fingers around the block to establish a stable grasp."}
+{"subtask_index": 639, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden assembly stand."}
+{"subtask_index": 640, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod and moves the block downward to fit securely onto the rod."}
+{"subtask_index": 641, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal nut on the black table surface, with fingers slightly extended."}
+{"subtask_index": 642, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a grip on the white hexagonal nut resting on the black table."}
+{"subtask_index": 643, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 644, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal block to align its central hole with the purple peg, lowers the block to fit onto the peg, and makes small finger adjustments to seat the block securely on the peg."}
+{"subtask_index": 645, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand releases the white cylindrical component on the wooden block tray, with fingers opening and lifting away from the component."}
+{"subtask_index": 646, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves empty downward from above the wooden tray toward the small white hexagonal nut on the table to the right front of the tray, without making contact with the nut."}
+{"subtask_index": 647, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut, with fingers closing and adjusting positions to establish a grasp on the nut, which remains resting on the table surface."}
+{"subtask_index": 648, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden block."}
+{"subtask_index": 649, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes small positional adjustments to align the held white hexagonal nut with the purple rod on the wooden block."}
+{"subtask_index": 650, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: place: Right hand lowers the aligned white hexagonal nut down onto the purple rod until the nut rests stably on the wooden block surface."}
+{"subtask_index": 651, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves diagonally down and right away from the stacked block assembly toward the white hexagonal nut on the dark table surface, with fingers held in a slightly extended open posture."}
+{"subtask_index": 652, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, fingers flex and close around the nut with minor adjustments to establish a secure hold."}
+{"subtask_index": 653, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface next to the green block without moving."}
+{"subtask_index": 654, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward to the position directly above the purple rod on the wooden block rack."}
+{"subtask_index": 655, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit over the rod."}
+{"subtask_index": 656, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden block rack without moving."}
+{"subtask_index": 657, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: release: Right hand opens fingers to release the purple-capped white bottle on the wooden rack."}
+{"subtask_index": 658, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: reach: Right hand moves downward toward the small green cube on the table with an open hand."}
+{"subtask_index": 659, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: grasp: Right hand closes fingers around the small green cube on the table to establish a stable grip."}
+{"subtask_index": 660, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: hold: Right hand holds the small green cube on the table surface without visible movement."}
+{"subtask_index": 661, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: lift: Right hand lifts the green square block upwards, completely separating it from the black table surface."}
+{"subtask_index": 662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: transport: Right hand carries the green square block through the air, moving it to the position directly above the purple rod on the bottle rack."}
+{"subtask_index": 663, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious positional movement. | Right hand: place_release: Right hand lowers the green square block downwards to align its central hole with the purple rod, places the block stably on the top of the underlying white bottle, opens fingers to release grip on the block."}
+{"subtask_index": 664, "subtask": "Left hand: other:adjust_finger_pose: Left hand adjusts its fingers from a vertically closed posture to an open spread posture, with no obvious arm displacement, remaining empty at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the upper-left green hexagonal block, with wrist rotating slightly to face downward, remaining empty."}
+{"subtask_index": 665, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the upper-left green hexagonal block, with wrist rotating slightly to face downward, remaining empty."}
+{"subtask_index": 666, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the upper-left green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 667, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the upper-left green hexagonal block on the table without moving."}
+{"subtask_index": 668, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift: Right hand lifts the wooden pegboard upwards from the table, with hexagonal blocks under it falling onto the table surface."}
+{"subtask_index": 669, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand fits the green hexagonal block onto the leftmost purple peg of the wooden pegboard."}
+{"subtask_index": 670, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the wooden pegboard with the assembled green block in the air without moving."}
+{"subtask_index": 671, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: place: Right hand places the wooden pegboard back onto the table surface."}
+{"subtask_index": 672, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward from the peg assembly area to approach the leftmost white hexagonal object on the table."}
+{"subtask_index": 673, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the leftmost white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 674, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}
+{"subtask_index": 675, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the position above the leftmost purple post of the rack."}
+{"subtask_index": 676, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple post by lowering and adjusting it to fit onto the post."}
+{"subtask_index": 677, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden rack, with fingers opening and separating from the block."}
+{"subtask_index": 678, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 679, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: idle: Right hand remains empty near the white hexagonal block on the table surface without moving."}
+{"subtask_index": 680, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 681, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the test tube rack."}
+{"subtask_index": 682, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod of the front-left test tube and fits it onto the rod."}
+{"subtask_index": 683, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the front-left test tube rod without moving."}
+{"subtask_index": 684, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white ring onto the top of the rightmost purple peg on the wooden board."}
+{"subtask_index": 685, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the table below the wooden board."}
+{"subtask_index": 686, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}
+{"subtask_index": 687, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}
+{"subtask_index": 688, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip while the block stays on the table."}
+{"subtask_index": 689, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the middle purple peg."}
+{"subtask_index": 690, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg by aligning the block's hole with the peg and inserting it downward."}
+{"subtask_index": 691, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}
+{"subtask_index": 692, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the purple rod and releases it."}
+{"subtask_index": 693, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table."}
+{"subtask_index": 694, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers adjusting to stabilize the grip."}
+{"subtask_index": 695, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to the position above the middle peg on the wooden rack."}
+{"subtask_index": 696, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_press: Right hand aligns the green hexagonal block with the middle peg and presses it down along the peg."}
+{"subtask_index": 697, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg without moving."}
+{"subtask_index": 698, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening until separated from the block."}
+{"subtask_index": 699, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: retreat: Right hand moves downward away from the wooden block base, empty."}
+{"subtask_index": 700, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: idle: Right hand remains empty near the white hexagonal block on the table without moving."}
+{"subtask_index": 701, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal part on the right table surface, with fingers adjusting slightly to stabilize the grip."}
+{"subtask_index": 702, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 703, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod on the wooden rack, aligning and lowering it onto the rod."}
+{"subtask_index": 704, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}
+{"subtask_index": 705, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the white hexagonal part on the purple rod, with fingers opening and separating from the part."}
+{"subtask_index": 706, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: retreat: Right hand retreats upward away from the purple rod on the wooden rack."}
+{"subtask_index": 707, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward from the wooden block base area toward the upper white hexagonal ring on the black table surface, with fingers open."}
+{"subtask_index": 708, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers gradually closing and adjusting grip around the ring."}
+{"subtask_index": 709, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward to above the purple rod on the wooden board."}
+{"subtask_index": 710, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple rod by lowering it to fit the rod through the piece's hole."}
+{"subtask_index": 711, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple rod without moving."}
+{"subtask_index": 712, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the purple peg on the wooden base and releases its grip."}
+{"subtask_index": 713, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 714, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}
+{"subtask_index": 715, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the white ring-shaped object from the black table surface and transports it towards the purple rod on the middle wooden base."}
+{"subtask_index": 716, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand mates the white ring-shaped object with the purple rod by aligning the rod with the ring's central hole and placing it onto the rod."}
+{"subtask_index": 717, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the white ring-shaped object fitted on the purple rod without moving."}
+{"subtask_index": 718, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: press: Right hand presses the purple cap onto the rightmost bottom bottle on the wooden rack."}
+{"subtask_index": 719, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release_reach: Right hand releases the purple cap while moving toward the green cubic block on the right lower part of the table."}
+{"subtask_index": 720, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing to form a stable grip."}
+{"subtask_index": 721, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: hold: Right hand holds the green cubic block on the right lower part of the table without moving."}
+{"subtask_index": 722, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: grasp: Right hand grasps the green block on the right side of the table, with fingers adjusting to form a stable grip while the block rests on the table surface."}
+{"subtask_index": 723, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the rightmost cylinder of the block set on the wooden base."}
+{"subtask_index": 724, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder's post and fits it down onto the post to complete assembly."}
+{"subtask_index": 725, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table with fingers open. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}
+{"subtask_index": 726, "subtask": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture and position at the left side of the operating area, remaining empty. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}
+{"subtask_index": 727, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}
+{"subtask_index": 728, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand approaches the green hexagonal block, fingers close to establish grasp, with slight hand posture adjustments to stabilize the grip."}
+{"subtask_index": 729, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}
+{"subtask_index": 730, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple post on the wooden base."}
+{"subtask_index": 731, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the green hexagonal block with the purple post by fitting it down onto the post."}
+{"subtask_index": 732, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the green hexagonal block and separates from it."}
+{"subtask_index": 733, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: pull: Right hand pulls the wooden base with assembled white cylindrical blocks towards the operator."}
+{"subtask_index": 734, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the black table."}
+{"subtask_index": 735, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 736, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple column on the wooden rack."}
+{"subtask_index": 737, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal nut with the purple column, aligns and inserts it down onto the column."}
+{"subtask_index": 738, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal nut, fingers open to separate from the nut."}
+{"subtask_index": 739, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 740, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 741, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 742, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}
+{"subtask_index": 743, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the white hexagonal nut towards the purple rod on the wooden test tube rack."}
+{"subtask_index": 744, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod and inserts it onto the rod."}
+{"subtask_index": 745, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}
+{"subtask_index": 746, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple peg of the wooden base."}
+{"subtask_index": 747, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table in front of the wooden base."}
+{"subtask_index": 748, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts its fingers to form stable grip on the white hexagonal block on the black table."}
+{"subtask_index": 749, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the purple rod on the wooden base."}
+{"subtask_index": 750, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it down onto the rod."}
+{"subtask_index": 751, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal block which is already fitted onto the purple rod."}
+{"subtask_index": 752, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward from the wooden peg set toward the green hexagonal block on the black table."}
+{"subtask_index": 753, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand touches the green hexagonal block, adjusts fingers to form a stable grasp on the block."}
+{"subtask_index": 754, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the white peg on the wooden base."}
+{"subtask_index": 755, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base, aligning the block's hole with the peg."}
+{"subtask_index": 756, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in position."}
+{"subtask_index": 757, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases its grip on the green hexagonal block, fingers opening to separate from the block."}
+{"subtask_index": 758, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the green block."}
+{"subtask_index": 759, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}
+{"subtask_index": 760, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 761, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 762, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface."}
+{"subtask_index": 763, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}
+{"subtask_index": 764, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}
+{"subtask_index": 765, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 766, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}
+{"subtask_index": 767, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base and releases the block."}
+{"subtask_index": 768, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table."}
+{"subtask_index": 769, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table."}
+{"subtask_index": 770, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden tray."}
+{"subtask_index": 771, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: place: Right hand places the white hexagonal block on the top of the purple rod on the wooden tray."}
+{"subtask_index": 772, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}
+{"subtask_index": 773, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}
+{"subtask_index": 774, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: idle: Right hand remains empty at the right side of the wooden tray without moving."}
+{"subtask_index": 775, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black table."}
+{"subtask_index": 776, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}
+{"subtask_index": 777, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the test tube with a purple rod on the wooden rack."}
+{"subtask_index": 778, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the white hexagonal ring onto the test tube with the purple rod, adjusting its position to fit properly."}
+{"subtask_index": 779, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: press: Right hand presses the white cylinder with purple rod on the wooden base downward."}
+{"subtask_index": 780, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}
+{"subtask_index": 781, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hollow block on the table."}
+{"subtask_index": 782, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: hold: Right hand holds the green square block on the black table without moving."}
+{"subtask_index": 783, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it towards the white bottle group on the wooden tray."}
+{"subtask_index": 784, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: mate: Right hand mates the green square block onto the top of the target white bottle on the wooden tray, adjusting to fit the block onto the bottle."}
+{"subtask_index": 785, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operating area. | Right hand: release: Right hand releases the green square block that is fitted on the white bottle."}
+{"subtask_index": 786, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves diagonally left-down from its initial right-side position toward the green hexagonal nut placed in front-left of the wooden block assembly, with fingers partially open, approaching the target without making contact."}
+{"subtask_index": 787, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the black table surface, closes fingers around the nut, and makes small continuous adjustments to finger and wrist positions to form a stable grip, with the nut remaining supported by the table."}
+{"subtask_index": 788, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward until the block is completely separated from the black table surface."}
+{"subtask_index": 789, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand carries the airborne green hexagonal block toward the wooden base, positioning the block directly above the target purple rod."}
+{"subtask_index": 790, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand lowers the green hexagonal block downward along the purple rod until the block rests stably on the surface of the wooden base."}
+{"subtask_index": 791, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple rod of the wooden base without any observable movement."}
+{"subtask_index": 792, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand holds the white cylindrical component, aligns it with and fits it onto the purple post of the wooden assembly base."}
+{"subtask_index": 793, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal block on the black table surface."}
+{"subtask_index": 794, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger contact positions and closes fingers around the white hexagonal block on the table, with continuous minor finger movements to establish a stable grasp."}
+{"subtask_index": 795, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand holds the white hexagonal nut, moves it upward and toward the wooden peg board to position it directly above the target purple peg."}
+{"subtask_index": 796, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the target purple peg, lowering the nut slightly to engage with the peg."}
+{"subtask_index": 797, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand lowers the engaged white hexagonal nut along the purple peg until it rests steadily on the green plastic base at the bottom of the peg."}
+{"subtask_index": 798, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate_release: Right hand aligns and presses the white hexagonal block onto the purple peg of the wooden assembly base, opening fingers to release the assembled block."}
+{"subtask_index": 799, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the black table."}
+{"subtask_index": 800, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table to form a stable grip."}
+{"subtask_index": 801, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}
+{"subtask_index": 802, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden block rack."}
+{"subtask_index": 803, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod on the wooden block rack and fits the nut onto the rod."}
+{"subtask_index": 804, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut near the assembly base, without touching the nut."}
+{"subtask_index": 805, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand contacts the nearby white hexagonal nut, with fingers adjusting and closing gradually to establish a grip on the nut."}
+{"subtask_index": 806, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without obvious movement."}
+{"subtask_index": 807, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position above the purple peg on the wooden assembly base."}
+{"subtask_index": 808, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowers the nut gradually to fit it onto the peg until it rests on the wooden base."}
+{"subtask_index": 809, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg, separating fingers from the nut surface."}
+{"subtask_index": 810, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal block resting on the dark table surface."}
+{"subtask_index": 811, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a stable grip, with the block remaining stationary on the table surface."}
+{"subtask_index": 812, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block, raising the block fully off the dark table surface by the end of the segment."}
+{"subtask_index": 813, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and rightward to position directly above the purple vertical rod on the wooden assembly stand."}
+{"subtask_index": 814, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand adjusts the green hexagonal block to align its central hole with the purple rod, fitting the block onto the top end of the rod."}
+{"subtask_index": 815, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod, lowering it until it rests stably on the lower green block already mounted on the rod."}
+{"subtask_index": 816, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand places the white hexagonal block onto the vertical rod of the stacked block assembly, releasing the block as fingers open."}
+{"subtask_index": 817, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal nut resting on the table near the green block."}
+{"subtask_index": 818, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand closes fingers and adjusts contact points to grasp the white hexagonal nut on the table surface."}
+{"subtask_index": 819, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the dark table surface and moves it upward to position above the purple rod on the wooden assembly base."}
+{"subtask_index": 820, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut onto the rod, and makes small positional adjustments to fit the nut onto the rod."}
+{"subtask_index": 821, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand holds the white hexagonal block, positions it onto the rear peg of the wooden base until the block is stably supported, and opens fingers to release grip on the block."}
+{"subtask_index": 822, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves empty downward and rightward toward the loose white hexagonal block on the table to the right of the wooden base, approaching the block without establishing contact."}
+{"subtask_index": 823, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger positions to form a stable grip with the block remaining in contact with the table surface."}
+{"subtask_index": 824, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: transport: Right hand holds the white hexagonal nut and transports it from the upper right area above the table to directly above the purple rod on the wooden block base."}
+{"subtask_index": 825, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, completing the assembly alignment."}
+{"subtask_index": 826, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens the fingers to release the white hexagonal nut that is fitted onto the purple rod."}
+{"subtask_index": 827, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: idle: Right hand remains empty, held stationary above the wooden block rack without contacting any objects."}
+{"subtask_index": 828, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward from above the block rack toward the white hexagonal nut resting on the dark table surface."}
+{"subtask_index": 829, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: idle: Right hand remains empty, positioned stationary directly above the white hexagonal nut without moving."}
+{"subtask_index": 830, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand moves slightly downward to the white hexagonal nut, fingers closing around the nut to establish a grip."}
+{"subtask_index": 831, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the empty slot on the wooden block rack."}
+{"subtask_index": 832, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the empty slot on the wooden block rack."}
+{"subtask_index": 833, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: release: Right hand opens its fingers to release the white cylindrical block seated in the wooden organizer, fully separating from the block by the end of the segment."}
+{"subtask_index": 834, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand lowers the white hexagonal nut into the aligned empty slot on the wooden rack and releases its grip, leaving the nut supported by the rack."}
+{"subtask_index": 835, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small green cubic block on the dark table surface with fingers held open."}
+{"subtask_index": 836, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: grasp: Right hand adjusts its wrist and finger positions, closing fingers around the small green cubic block on the table to establish a stable grip."}
+{"subtask_index": 837, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: lift_transport: Right hand lifts the green holed block from the dark table surface and transports it upward to the position directly above the target white bottle on the wooden rack."}
+{"subtask_index": 838, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to the green block to align its central hole with the purple stem on the target bottle, gradually fitting the block onto the stem."}
+{"subtask_index": 839, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with operational objects. | Right hand: place_release: Right hand lowers the green block along the purple stem to place it on the top of the target bottle where it is supported, then opens fingers to release the block."}
+{"subtask_index": 840, "subtask": "Left hand: other:adjust_fingers: Left hand slightly adjusts its fingers at the left side of the table without contacting any operating object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the left of the wooden base."}
+{"subtask_index": 841, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the left of the wooden base."}
+{"subtask_index": 842, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}
+{"subtask_index": 843, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 844, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the wooden peg board."}
+{"subtask_index": 845, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the wooden board and inserts it onto the peg."}
+{"subtask_index": 846, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden board without moving."}
+{"subtask_index": 847, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the peg of the assembly rack and releases it."}
+{"subtask_index": 848, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 849, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}
+{"subtask_index": 850, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without any observable movement."}
+{"subtask_index": 851, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting its fingers to form a stable grip."}
+{"subtask_index": 852, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to the position above the purple peg on the wooden rack."}
+{"subtask_index": 853, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden rack by aligning and pressing it down."}
+{"subtask_index": 854, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers to separate from the block."}
+{"subtask_index": 855, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases the block."}
+{"subtask_index": 856, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 857, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the leftmost purple rod of the test tube rack."}
+{"subtask_index": 858, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the test tube rack by aligning and lowering it."}
+{"subtask_index": 859, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod of the test tube rack without moving."}
+{"subtask_index": 860, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening from closed position."}
+{"subtask_index": 861, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 862, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 863, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple rod on the wooden rack."}
+{"subtask_index": 864, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack."}
+{"subtask_index": 865, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}
+{"subtask_index": 866, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table, moving downward from the area beside the wooden base."}
+{"subtask_index": 867, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 868, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the area above the pegs on the wooden board."}
+{"subtask_index": 869, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left peg of the wooden board, lowering the block to fit onto the peg."}
+{"subtask_index": 870, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the front-left peg and transports it above the adjacent middle peg."}
+{"subtask_index": 871, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle peg of the wooden board."}
+{"subtask_index": 872, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the middle peg and transports it above the front-right peg."}
+{"subtask_index": 873, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-right peg of the wooden board."}
+{"subtask_index": 874, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the front-right peg and transports it above a back peg."}
+{"subtask_index": 875, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the back peg of the wooden board."}
+{"subtask_index": 876, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the back peg and transports it above the rightmost peg area."}
+{"subtask_index": 877, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto a peg at the right side of the wooden board."}
+{"subtask_index": 878, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and transports it to an adjacent peg position."}
+{"subtask_index": 879, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the adjacent peg of the wooden board."}
+{"subtask_index": 880, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and transports it to another adjacent peg position."}
+{"subtask_index": 881, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg of the wooden board."}
+{"subtask_index": 882, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly and adjusts its horizontal position."}
+{"subtask_index": 883, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block back onto the peg of the wooden board."}
+{"subtask_index": 884, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}
+{"subtask_index": 885, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 886, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the white hexagonal block on the table without moving."}
+{"subtask_index": 887, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves closer to the white hexagonal block on the table."}
+{"subtask_index": 888, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 889, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table surface and moves it to the position above the purple peg on the wooden base."}
+{"subtask_index": 890, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning and lowering it onto the peg."}
+{"subtask_index": 891, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal part with fingers opening to separate from the part."}
+{"subtask_index": 892, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}
+{"subtask_index": 893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the purple peg on the wooden board and releases it."}
+{"subtask_index": 894, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal piece on the black table surface."}
+{"subtask_index": 895, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table surface."}
+{"subtask_index": 896, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the purple rod on the wooden block."}
+{"subtask_index": 897, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the upper part of the purple rod without moving."}
+{"subtask_index": 898, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal block down along the purple rod toward the green block below."}
+{"subtask_index": 899, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cap onto the top of the rightmost column on the wooden base."}
+{"subtask_index": 900, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}
+{"subtask_index": 901, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface with fingers closing and adjusting."}
+{"subtask_index": 902, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right area of the black table without moving."}
+{"subtask_index": 903, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 904, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod and fits it down onto the rod to form an assembly relation."}
+{"subtask_index": 905, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white ring down to the bottom of the purple-topped peg on the right side of the wooden base and releases the ring."}
+{"subtask_index": 906, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the black table surface."}
+{"subtask_index": 907, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers closing and adjusting the grip."}
+{"subtask_index": 908, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring-shaped block from the right table surface and transports it to the upper area of the rightmost front bottle on the wooden rack."}
+{"subtask_index": 909, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green ring-shaped block with the purple rod on the rightmost front bottle and fits the block onto the bottle."}
+{"subtask_index": 910, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring-shaped block on the rightmost front bottle without moving."}
+{"subtask_index": 911, "subtask": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table near the wooden rack."}
+{"subtask_index": 912, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table near the wooden rack."}
+{"subtask_index": 913, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers and adjusts to grasp the green hexagonal block on the black table."}
+{"subtask_index": 914, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it above the target purple peg on the wooden rack."}
+{"subtask_index": 915, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the target purple peg by inserting it down onto the peg."}
+{"subtask_index": 916, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block mated on the purple peg without moving."}
+{"subtask_index": 917, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}
+{"subtask_index": 918, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the green block on the table, no contact made yet."}
+{"subtask_index": 919, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 920, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block on the table without moving."}
+{"subtask_index": 921, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}
+{"subtask_index": 922, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the top left purple rod of the wooden rack."}
+{"subtask_index": 923, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the top left purple rod on the wooden rack."}
+{"subtask_index": 924, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}
+{"subtask_index": 925, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}
+{"subtask_index": 926, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden block assembly rack towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 927, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block on the black tabletop."}
+{"subtask_index": 928, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}
+{"subtask_index": 929, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal block onto the target purple rod on the wooden rack and releases the block after proper fitting."}
+{"subtask_index": 930, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 931, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}
+{"subtask_index": 932, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it above the purple peg on the wooden rack."}
+{"subtask_index": 933, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it to fit onto the peg."}
+{"subtask_index": 934, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple peg and retreats upward slightly."}
+{"subtask_index": 935, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the block assembly rack towards the green square block on the table."}
+{"subtask_index": 936, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table, with slight grip adjustment movements."}
+{"subtask_index": 937, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and moves it towards the white peg on the wooden base."}
+{"subtask_index": 938, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green cubic block with the white peg and inserts it down onto the peg."}
+{"subtask_index": 939, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the gray cylindrical part placed on the wooden base."}
+{"subtask_index": 940, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 941, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 942, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the green cylinder on the wooden base."}
+{"subtask_index": 943, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the top of the green cylinder."}
+{"subtask_index": 944, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand adjusts the white hexagonal block to align with and fit onto the green cylinder to complete assembly."}
+{"subtask_index": 945, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white sleeve onto the purple rod on the wooden base."}
+{"subtask_index": 946, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}
+{"subtask_index": 947, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to prepare grasping the white hexagonal block on the black table."}
+{"subtask_index": 948, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 949, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}
+{"subtask_index": 950, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 951, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}
+{"subtask_index": 952, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}
+{"subtask_index": 953, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white block onto the purple rod on the wooden base."}
+{"subtask_index": 954, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand fingers close to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 955, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it to above the purple rod on the wooden rack."}
+{"subtask_index": 956, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hollow block with the purple rod on the wooden rack by lowering it onto the rod."}
+{"subtask_index": 957, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the small protrusion on the top of the bottom right white cylinder on the wooden base."}
+{"subtask_index": 958, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}
+{"subtask_index": 959, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand approaches the green block, fingers close to establish a stable grasp on the block."}
+{"subtask_index": 960, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green block on the table surface without any observable movement."}
+{"subtask_index": 961, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the black table surface."}
+{"subtask_index": 962, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the rightmost white bottle on the wooden rack."}
+{"subtask_index": 963, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the rightmost white bottle by aligning and inserting it onto the bottle."}
+{"subtask_index": 964, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the green block which is fitted onto the white bottle."}
+{"subtask_index": 965, "subtask": "Left hand: return_home: Left hand moves empty from its initial left-side position to the left home position in front of the body, with fingers slightly adjusting to a relaxed curved posture. | Right hand: reach: Right hand moves empty from its initial right upper position down and left toward the green hexagonal block on the table in front of the wooden peg stand, with fingers extended, without contacting the block."}
+{"subtask_index": 966, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves empty from its initial right upper position down and left toward the green hexagonal block on the table in front of the wooden peg stand, with fingers extended, without contacting the block."}
+{"subtask_index": 967, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table in front of the wooden peg stand, fingers close and make small positional adjustments to establish a stable grip on the block."}
+{"subtask_index": 968, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the table, and lifts the block upward until it is completely separated from the table surface."}
+{"subtask_index": 969, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted green block, moving it upward and horizontally to position it directly above the purple vertical peg on the wooden assembly base."}
+{"subtask_index": 970, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align its central hole with the purple peg, lowers the block to fit it onto the peg, and makes small fine adjustments during the fitting process."}
+{"subtask_index": 971, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand releases the white cylindrical component on the wooden assembly base, with fingers opening to separate from the component."}
+{"subtask_index": 972, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 973, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to fingers and wrist around the target white hexagonal nut to form a stable grip."}
+{"subtask_index": 974, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand grips the white hexagonal block on the table surface, lifts it completely off the black table, and carries it to the position directly above the leftmost purple rod on the wooden assembly base."}
+{"subtask_index": 975, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod, moves the block downward to fit it onto the rod until it rests on the supporting green block, with fingers opening to release the assembled block."}
+{"subtask_index": 976, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the nearby white hexagonal nut on the black table surface."}
+{"subtask_index": 977, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers gradually to establish a grip on the nut."}
+{"subtask_index": 978, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}
+{"subtask_index": 979, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly over the unoccupied purple rod on the wooden assembly rack."}
+{"subtask_index": 980, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and lowers the nut to fit onto the rod."}
+{"subtask_index": 981, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward from the position above the wooden assembly rack toward the closest white hexagonal nut on the nearby table surface, with fingers held open."}
+{"subtask_index": 982, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusting finger positions and closing fingers around the nut to form a stable grip."}
+{"subtask_index": 983, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward from the black table surface."}
+{"subtask_index": 984, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand transports the gripped white hexagonal nut upward and toward the purple peg on the wooden base."}
+{"subtask_index": 985, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its hole with the purple peg, fitting the nut onto the peg."}
+{"subtask_index": 986, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement."}
+{"subtask_index": 987, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which slides down the purple peg to rest on the wooden base."}
+{"subtask_index": 988, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed on the black table in front of the wooden assembly base, with fingers slightly extended."}
+{"subtask_index": 989, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to insert into the central hole of the green hexagonal nut, closing fingers gradually to form a stable grip on the nut while the nut remains on the table."}
+{"subtask_index": 990, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the stably grasped green hexagonal nut upward until the nut is completely off the black table surface."}
+{"subtask_index": 991, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block up and toward the purple rod mounted on the wooden base, positioning the block directly above the rod."}
+{"subtask_index": 992, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple rod, lowering the block gradually to fit the rod through the hole."}
+{"subtask_index": 993, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: place: Right hand lowers the mated green hexagonal block down along the purple rod until the block rests stably on the green block below."}
+{"subtask_index": 994, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downwards from the area above the wooden block set towards the white hexagonal nut on the black table surface, with fingers held open."}
+{"subtask_index": 995, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand approaches the white hexagonal nut on the table, makes contact with the nut, closes fingers around it and performs minor finger adjustments to establish a grip."}
+{"subtask_index": 996, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it toward the wooden block rack."}
+{"subtask_index": 997, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack and lowers the block to fit onto the rod, seating it on the stacked block below."}
+{"subtask_index": 998, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod of the wooden rack without observable movement."}
+{"subtask_index": 999, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical part on the wooden assembly stand, losing contact with the part."}
+{"subtask_index": 1000, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves rightward and downward toward the white hexagonal nut placed on the black table surface near the assembly stand, remaining empty before contact."}
+{"subtask_index": 1001, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand makes repeated small adjustments to finger positions, closing fingers around the white hexagonal nut on the table to form a stable grip."}
+{"subtask_index": 1002, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface, with no visible movement of the hand, fingers or the nut."}
+{"subtask_index": 1003, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand grips the white hexagonal cylinder resting on the table surface and lifts it upward until the cylinder is fully separated from the table."}
+{"subtask_index": 1004, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder upward and leftward toward the empty slot on the wooden assembly block."}
+{"subtask_index": 1005, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand holds the white hexagonal cylinder above the empty slot, making small positional and rotational adjustments to align the cylinder with the target slot."}
+{"subtask_index": 1006, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: place_release: Right hand lowers the aligned white hexagonal cylinder toward the slot, opens fingers to release the grip, and the cylinder settles stably on the wooden block base."}
+{"subtask_index": 1007, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table, staying empty and out of contact with the nut."}
+{"subtask_index": 1008, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and adjust position to form a grip on the nut."}
+{"subtask_index": 1009, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block stationary on the dark gray table surface."}
+{"subtask_index": 1010, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it fully separates from the table surface."}
+{"subtask_index": 1011, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block through the air toward the wooden component rack."}
+{"subtask_index": 1012, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod on the wooden rack, fits the block onto the rod, opens fingers to release the block."}
+{"subtask_index": 1013, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: idle: Right hand remains empty near the white bottle rack without observable position or posture change."}
+{"subtask_index": 1014, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: reach: Right hand moves down-right toward the green cube on the table surface, staying empty as it approaches the cube without contact."}
+{"subtask_index": 1015, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to establish contact and form a grip on the cube."}
+{"subtask_index": 1016, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal block straight upward from the black table surface until the block is fully lifted off the table."}
+{"subtask_index": 1017, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: transport: Right hand transports the green block upward and leftward to the position directly above the purple-capped white bottle on the wooden stand, making small positional adjustments."}
+{"subtask_index": 1018, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: hold: Right hand holds the green block steadily above the purple-capped white bottle without any visible movement."}
+{"subtask_index": 1019, "subtask": "Left hand: idle: Left hand remains empty at the left home position in front of the body without any observable movement. | Right hand: mate: Right hand lowers the green block, aligns its central hole with the top of the purple-capped white bottle, and fits the block securely onto the bottle."}
+{"subtask_index": 1020, "subtask": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger posture and wrist orientation at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand adjusts its finger posture and wrist orientation at the right side of the table, with no obvious overall displacement."}
+{"subtask_index": 1021, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves left-forward towards the green hexagonal block in front of the wooden rack on the table."}
+{"subtask_index": 1022, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block, closes fingers to establish and adjust the grip, with the block remaining on the table surface."}
+{"subtask_index": 1023, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it towards the wooden base with purple pegs."}
+{"subtask_index": 1024, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green cubic block with the front purple peg on the wooden base by inserting the block downwards onto the peg."}
+{"subtask_index": 1025, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the front purple peg of the wooden base without moving."}
+{"subtask_index": 1026, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}
+{"subtask_index": 1027, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 1028, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1029, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the leftmost purple post on the test tube rack."}
+{"subtask_index": 1030, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the leftmost purple post of the test tube rack."}
+{"subtask_index": 1031, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white cylindrical piece onto the top of the rightmost purple peg on the wooden base and releases the piece."}
+{"subtask_index": 1032, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}
+{"subtask_index": 1033, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}
+{"subtask_index": 1034, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}
+{"subtask_index": 1035, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 1036, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the wooden peg rack with purple rods."}
+{"subtask_index": 1037, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the front-left purple rod of the peg rack and releases the piece."}
+{"subtask_index": 1038, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats upward and rightward away from the peg rack."}
+{"subtask_index": 1039, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the table in front of the pegboard."}
+{"subtask_index": 1040, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table."}
+{"subtask_index": 1041, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}
+{"subtask_index": 1042, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}
+{"subtask_index": 1043, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden base."}
+{"subtask_index": 1044, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and sliding the block down to the base."}
+{"subtask_index": 1045, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block on the purple rod and moves upward slightly."}
+{"subtask_index": 1046, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal block on the table, without touching the block."}
+{"subtask_index": 1047, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1048, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the vertical peg on the wooden rack."}
+{"subtask_index": 1049, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden rack by aligning the block's hole with the peg and lowering the block."}
+{"subtask_index": 1050, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening and separating from the block."}
+{"subtask_index": 1051, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the assembly rack toward the white hexagonal block on the table surface."}
+{"subtask_index": 1052, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting around the block."}
+{"subtask_index": 1053, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table and transports it toward the purple vertical rod on the wooden base."}
+{"subtask_index": 1054, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the purple vertical rod of the wooden rack, aligning the hole and lowering the block to fit onto the rod."}
+{"subtask_index": 1055, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hollow hexagonal block, fingers open and separate from the block."}
+{"subtask_index": 1056, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table, with fingers slightly open."}
+{"subtask_index": 1057, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}
+{"subtask_index": 1058, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white block off the table surface and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1059, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and assembles it onto the rod by pushing it down."}
+{"subtask_index": 1060, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white block fitted on the purple rod without moving."}
+{"subtask_index": 1061, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the purple rod, with fingers separating from the block."}
+{"subtask_index": 1062, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}
+{"subtask_index": 1063, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjust to form a stable grip."}
+{"subtask_index": 1064, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hollow hexagonal block on the right side of the black table without moving."}
+{"subtask_index": 1065, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward from the black table until the block is fully off the surface."}
+{"subtask_index": 1066, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hollow hexagonal block and moves leftward toward the wooden bottle rack."}
+{"subtask_index": 1067, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple rod on the wooden rack and slides it down onto the rod."}
+{"subtask_index": 1068, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hollow hexagonal block on the purple rod."}
+{"subtask_index": 1069, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats rightward away from the wooden bottle rack."}
+{"subtask_index": 1070, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards toward the green block on the table, not contacting the block yet."}
+{"subtask_index": 1071, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing to form a stable grip."}
+{"subtask_index": 1072, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green block on the table without moving."}
+{"subtask_index": 1073, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow square block on the right side of the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1074, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the white bottle rack at the center of the table."}
+{"subtask_index": 1075, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hollow square block with the purple-topped bottle on the right side of the rack and fits the block onto the bottle."}
+{"subtask_index": 1076, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening to separate from the block."}
+{"subtask_index": 1077, "subtask": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its hand and finger posture at the left side of the frame without contacting any object. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden peg base."}
+{"subtask_index": 1078, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden peg base."}
+{"subtask_index": 1079, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}
+{"subtask_index": 1080, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: hold: Right hand holds the green hexagonal block without moving."}
+{"subtask_index": 1081, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift: Right hand lifts the green block up from the black table surface."}
+{"subtask_index": 1082, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: transport: Right hand transports the green block to the position above the rod on the wooden base."}
+{"subtask_index": 1083, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand inserts the green block onto the rod of the wooden base to complete assembly."}
+{"subtask_index": 1084, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden rack."}
+{"subtask_index": 1085, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1086, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 1087, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it to the position above the frontmost purple pillar on the wooden rack."}
+{"subtask_index": 1088, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand aligns the white hexagonal nut with the frontmost purple pillar and inserts it onto the pillar."}
+{"subtask_index": 1089, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pillar to secure it in place."}
+{"subtask_index": 1090, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves from the wooden assembly board area toward the white hexagonal block on the lower part of the desktop."}
+{"subtask_index": 1091, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers close and adjust to form a stable grasp."}
+{"subtask_index": 1092, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the leftmost purple rod on the wooden test tube rack."}
+{"subtask_index": 1093, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple rod on the wooden test tube rack."}
+{"subtask_index": 1094, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the white hexagonal object fitted on the purple rod."}
+{"subtask_index": 1095, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: idle: Right hand remains empty above the test tube rack without moving."}
+{"subtask_index": 1096, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 1097, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}
+{"subtask_index": 1098, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden tray."}
+{"subtask_index": 1099, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden tray."}
+{"subtask_index": 1100, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}
+{"subtask_index": 1101, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 1102, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden base."}
+{"subtask_index": 1103, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}
+{"subtask_index": 1104, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the green hexagonal block, with fingers closing around the block to form stable contact."}
+{"subtask_index": 1105, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the purple rod on the wooden rack."}
+{"subtask_index": 1106, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the green block with the purple rod by lowering it down along the rod."}
+{"subtask_index": 1107, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the green block which is already fitted on the purple rod."}
+{"subtask_index": 1108, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}
+{"subtask_index": 1109, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach_grasp: Right hand reaches toward the green hexagonal block on the black table and grasps it."}
+{"subtask_index": 1110, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}
+{"subtask_index": 1111, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the peg on the wooden base."}
+{"subtask_index": 1112, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the wooden base by inserting it downwards."}
+{"subtask_index": 1113, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: place: Right hand places the white ring onto the purple vertical post on the wooden board."}
+{"subtask_index": 1114, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: retreat: Right hand retreats away from the wooden board towards the white ring on the black table."}
+{"subtask_index": 1115, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches towards the white ring on the black table near the wooden board."}
+{"subtask_index": 1116, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers adjust to form stable grip."}
+{"subtask_index": 1117, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}
+{"subtask_index": 1118, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand reaches toward the white ring block on the table surface."}
+{"subtask_index": 1119, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand grasps the white ring block on the table surface with fingers closing."}
+{"subtask_index": 1120, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the white ring block from the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 1121, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the white ring block onto the purple rod by aligning and lowering it until the block is fully seated on the rod."}
+{"subtask_index": 1122, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: retreat: Right hand retreats slightly away from the purple rod on the wooden base."}
+{"subtask_index": 1123, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: reach: Right hand moves downward toward the green block on the right part of the table."}
+{"subtask_index": 1124, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}
+{"subtask_index": 1125, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: hold: Right hand holds the green square block on the right side of the table without moving."}
+{"subtask_index": 1126, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it towards the white bottle on the wooden tray."}
+{"subtask_index": 1127, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: mate: Right hand mates the green square block onto the top of the white bottle on the wooden tray."}
+{"subtask_index": 1128, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame. | Right hand: release: Right hand releases the green square block from its grip."}
+{"subtask_index": 1129, "subtask": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts wrist angle and finger curvature while remaining empty on the left side of the workspace, with no obvious translational movement toward any operational target. | Right hand: reach: Right hand moves translationally from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg stand, with fingers held slightly extended as it approaches the target."}
+{"subtask_index": 1130, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves translationally from its initial right-side position toward the green hexagonal block on the table in front of the wooden peg stand, with fingers held slightly extended as it approaches the target."}
+{"subtask_index": 1131, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand contacts the target green hexagonal block, with fingers closing and making subtle positional adjustments to form a stable grip, while the block remains resting on the table surface."}
+{"subtask_index": 1132, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table and transports it upward to the position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 1133, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg on the wooden base and moves the block downward to fit it onto the peg."}
+{"subtask_index": 1134, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement or adjustment."}
+{"subtask_index": 1135, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach_grasp: Right hand moves downward and leftward from the upper pegboard area to the white hexagonal block on the table surface, closing fingers to establish a grasp on the block."}
+{"subtask_index": 1136, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without any observable movement."}
+{"subtask_index": 1137, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1138, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple rod mounted on the wooden assembly base."}
+{"subtask_index": 1139, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden base and moves the nut downward to nest it securely onto the rod."}
+{"subtask_index": 1140, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: place_release: Right hand holds the white-capped hexagonal block, moves it downward to seat it onto the purple peg of the wooden peg board until the block rests stably on the green base, and opens fingers to release contact with the block."}
+{"subtask_index": 1141, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves empty downward away from the peg board toward the hexagonal nuts placed on the black table surface, with fingers slightly extended while approaching the targets."}
+{"subtask_index": 1142, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around a green hexagonal nut on the table, making minor continuous adjustments to finger and wrist positions to establish a stable grip on the nut."}
+{"subtask_index": 1143, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple rod on the wooden block rack."}
+{"subtask_index": 1144, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple rod, lowers the nut to fit it onto the rod until it rests on the green block below."}
+{"subtask_index": 1145, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without moving."}
+{"subtask_index": 1146, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1147, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to establish a firm grip."}
+{"subtask_index": 1148, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, lifts it upward until the nut is completely off the table."}
+{"subtask_index": 1149, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: transport: Right hand carries the airborne white hexagonal nut, moves it upward and rightward to the position directly above the purple rod on the wooden base."}
+{"subtask_index": 1150, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}
+{"subtask_index": 1151, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut fitted on the purple rod, fully separating from the nut."}
+{"subtask_index": 1152, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: hold: Right hand rests on the topmost placed white cylindrical block on the stacking base without moving."}
+{"subtask_index": 1153, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the nearby green hexagonal block on the table surface."}
+{"subtask_index": 1154, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grasp on the block."}
+{"subtask_index": 1155, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface, moving the block upward toward the wooden block assembly base."}
+{"subtask_index": 1156, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the empty purple rod on the wooden base, lowering the block to fit it onto the rod until it rests stably on the supporting block below."}
+{"subtask_index": 1157, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens fingers to release its grip on the green hexagonal block seated on the purple rod."}
+{"subtask_index": 1158, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the black table surface, approaching the target."}
+{"subtask_index": 1159, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table, forming a grasp while the nut remains on the support surface."}
+{"subtask_index": 1160, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position directly above the purple rod on the wooden block assembly."}
+{"subtask_index": 1161, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden assembly base, making small rotational and positional adjustments to fit the nut onto the rod."}
+{"subtask_index": 1162, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens fingers to release contact with the white block on the top of the wooden assembly stand."}
+{"subtask_index": 1163, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves down and right toward the loose white hexagonal block on the table surface, with fingers held open as it approaches."}
+{"subtask_index": 1164, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes around the loose white hexagonal block on the table to establish a grip."}
+{"subtask_index": 1165, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 1166, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the purple vertical rod, fitting the nut onto the rod."}
+{"subtask_index": 1167, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until it rests stably on the surface of the wooden base."}
+{"subtask_index": 1168, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: retreat: Right hand moves away from the purple cylinder on the wooden assembly stand with an empty hand."}
+{"subtask_index": 1169, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut placed on the black table surface with an empty hand."}
+{"subtask_index": 1170, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}
+{"subtask_index": 1171, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position above the purple rod on the wooden assembly block."}
+{"subtask_index": 1172, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit securely onto the rod, completing the assembly connection."}
+{"subtask_index": 1173, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut, moving slightly away from the assembled object."}
+{"subtask_index": 1174, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the area adjacent to the white cylinder rack toward the small green cube on the dark table surface, with fingers slightly open and no contact with the cube."}
+{"subtask_index": 1175, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the dark table surface to form a grip."}
+{"subtask_index": 1176, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and moves it upward and leftward to the position directly above the target white cylinder on the wooden block rack."}
+{"subtask_index": 1177, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: mate: Right hand adjusts the green block's orientation and position to align its central hole with the top of the target white cylinder, then lowers the block to fit it securely onto the cylinder."}
+{"subtask_index": 1178, "subtask": "Left hand: idle: Left hand remains empty and completely stationary at the left side of the workspace, with no observable movement of the wrist, fingers or arm, and no contact with any objects. | Right hand: release: Right hand opens its fingers to release the green block, which is now stably fitted onto the white cylinder."}
+{"subtask_index": 1179, "subtask": "Left hand: reach: Left hand moves from the left initial position toward the upper area above the central wooden block stand with fingers extended, remaining empty without touching any object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut in front of the wooden block stand with fingers extended, remaining empty without touching the nut."}
+{"subtask_index": 1180, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand contacts the green hexagonal nut in front of the wooden block stand, adjusting finger positions and closing fingers to establish a stable grasp."}
+{"subtask_index": 1181, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the black table surface and moves it upward to position it directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 1182, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg on the wooden assembly base, lowers the block to slide it down the peg, and makes small positional adjustments to fit the block into the assembly."}
+{"subtask_index": 1183, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table in front of the wooden pegboard, with fingers held open."}
+{"subtask_index": 1184, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and making slight positional adjustments to form a grip on the nut."}
+{"subtask_index": 1185, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward and horizontally to position it directly above the target purple rod on the wooden assembly base."}
+{"subtask_index": 1186, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut and adjusts its position to fit it onto the rod."}
+{"subtask_index": 1187, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple peg above the green block on the wooden stand, opening fingers to release the stably supported block."}
+{"subtask_index": 1188, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downward from the wooden stand area toward the front white hexagonal block resting on the black table."}
+{"subtask_index": 1189, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, closing fingers and adjusting contact positions to form a grip on the block."}
+{"subtask_index": 1190, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the black table surface."}
+{"subtask_index": 1191, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand moves the grasped white hexagonal nut toward the wooden block assembly, positioning the nut directly above one purple rod on the assembly."}
+{"subtask_index": 1192, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, makes small positional adjustments, and slides the nut down the rod until it rests on the green base component."}
+{"subtask_index": 1193, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward from above the wooden peg base toward the white hexagonal block placed on the table surface near the base."}
+{"subtask_index": 1194, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table, with small finger and wrist movements to form a stable grasp."}
+{"subtask_index": 1195, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand holds the white hexagonal nut, moves it toward the wooden base to position it directly above the target purple rod."}
+{"subtask_index": 1196, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand makes slight positional adjustments to the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit the rod through the hole."}
+{"subtask_index": 1197, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place: Right hand lowers the white hexagonal nut further along the purple rod until the nut rests on the wooden base surface."}
+{"subtask_index": 1198, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the green hexagonal block on the black table surface."}
+{"subtask_index": 1199, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes slight continuous adjustments to finger and wrist positions around the green hexagonal block on the table, with fine finger movements to establish a stable grasp of the block."}
+{"subtask_index": 1200, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 1201, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: hold: Right hand holds the green hexagonal block steadily above the purple rod without any observable movement of the hand, fingers, or block."}
+{"subtask_index": 1202, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reorient: Right hand makes small rotational and positional adjustments to the green hexagonal block, rotating it slightly to align its central hole with the purple rod below."}
+{"subtask_index": 1203, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place: Right hand moves the aligned green hexagonal block downward along the purple rod, lowering it until it rests stably on the white block beneath it on the wooden base."}
+{"subtask_index": 1204, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple post, separating from the block."}
+{"subtask_index": 1205, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface, approaching the target."}
+{"subtask_index": 1206, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to form a grasp."}
+{"subtask_index": 1207, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table, then moves it upward and toward the wooden assembly stand to position it above the purple rod."}
+{"subtask_index": 1208, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand, moves the block downward to nest it onto the rod while adjusting its position for proper fit."}
+{"subtask_index": 1209, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves from above the wooden bottle holder downwards and rightwards toward the upper white hexagonal nut on the dark table surface, with fingers held open."}
+{"subtask_index": 1210, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut on the table, closing fingers and adjusting contact positions to establish a grip on the nut."}
+{"subtask_index": 1211, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to position above the purple rod on the wooden block set."}
+{"subtask_index": 1212, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple rod, and fits the nut onto the top of the rod."}
+{"subtask_index": 1213, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod to rest on the existing nut below, then opens fingers to release the nut."}
+{"subtask_index": 1214, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves downward empty from the wooden block stand toward the green block resting on the table surface."}
+{"subtask_index": 1215, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: push: Right hand contacts the green block on the table, pushing it to tilt to one side while remaining in contact with the block."}
+{"subtask_index": 1216, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves from the green block position toward the adjacent white hexagonal nut on the table, adjusting finger positions to approach the nut without forming a grasp."}
+{"subtask_index": 1217, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward and leftward toward the purple mounting rod on the wooden block rack."}
+{"subtask_index": 1218, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple mounting rod, lowering the block to fit onto the rod until it rests on the base block on the rack."}
+{"subtask_index": 1219, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating the hand from the placed block."}
+{"subtask_index": 1220, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: reach: Right hand moves empty downwards and rightwards to approach the green square block on the dark table surface."}
+{"subtask_index": 1221, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: grasp: Right hand closes fingers around the green square block, adjusting finger positions to establish grip on the object."}
+{"subtask_index": 1222, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and transports it upward to the position directly above the target white bottle cap on the wooden block holder."}
+{"subtask_index": 1223, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green block to align its central hole with the top of the target white bottle cap."}
+{"subtask_index": 1224, "subtask": "Left hand: idle: Left hand remains empty in the upper area above the central wooden block stand without obvious movement or contact with any object. | Right hand: place_release: Right hand lowers the aligned green block onto the target white bottle cap and opens fingers to release the block, leaving it seated on the cap."}
+{"subtask_index": 1225, "subtask": "Left hand: other:adjust_finger_posture: Left hand slightly bends its fingers to adjust posture at the left side of the table, remaining empty and not contacting any object. | Right hand: reach: Right hand moves leftwards toward the green hexagonal block on the black table, remaining empty and not contacting the object."}
+{"subtask_index": 1226, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves leftwards toward the green hexagonal block on the black table, remaining empty and not contacting the object."}
+{"subtask_index": 1227, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1228, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple peg on the wooden base."}
+{"subtask_index": 1229, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg."}
+{"subtask_index": 1230, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table."}
+{"subtask_index": 1231, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable contact."}
+{"subtask_index": 1232, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1233, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place: Right hand places the white hexagonal nut onto the top end of the purple rod."}
+{"subtask_index": 1234, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by pressing it down along the rod to complete the assembly."}
+{"subtask_index": 1235, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white block placed on the purple peg of the wooden base, with fingers opening."}
+{"subtask_index": 1236, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1237, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block."}
+{"subtask_index": 1238, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the test tube rack with purple rods."}
+{"subtask_index": 1239, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the white hexagonal object with the top of the target purple rod on the test tube rack."}
+{"subtask_index": 1240, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: press: Right hand presses the white hexagonal object down along the purple rod to fit it in place."}
+{"subtask_index": 1241, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the block placed on the purple peg of the wooden base."}
+{"subtask_index": 1242, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 1243, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1244, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple post on the wooden base."}
+{"subtask_index": 1245, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}
+{"subtask_index": 1246, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple post."}
+{"subtask_index": 1247, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downwards towards the green hexagonal block on the black table."}
+{"subtask_index": 1248, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black table."}
+{"subtask_index": 1249, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift: Right hand lifts the green hexagonal block off the black table surface."}
+{"subtask_index": 1250, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the green block towards the upper part of the white peg on the wooden rack."}
+{"subtask_index": 1251, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the white peg."}
+{"subtask_index": 1252, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: press: Right hand presses the green block down along the white peg until it is fully seated."}
+{"subtask_index": 1253, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the green block onto the purple post on the wooden base."}
+{"subtask_index": 1254, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}
+{"subtask_index": 1255, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1256, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with multiple posts."}
+{"subtask_index": 1257, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal block onto the corresponding post on the wooden rack."}
+{"subtask_index": 1258, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}
+{"subtask_index": 1259, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves towards the small white hollow cylinder on the right side of the table."}
+{"subtask_index": 1260, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand grasps the small white hollow cylinder on the table."}
+{"subtask_index": 1261, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1262, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod, then releases the block."}
+{"subtask_index": 1263, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the grip on the block."}
+{"subtask_index": 1264, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 1265, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black tabletop."}
+{"subtask_index": 1266, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 1267, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}
+{"subtask_index": 1268, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it."}
+{"subtask_index": 1269, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 1270, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases its grip."}
+{"subtask_index": 1271, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}
+{"subtask_index": 1272, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green cubic block on the table."}
+{"subtask_index": 1273, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to the position above the target white tube with a purple protrusion."}
+{"subtask_index": 1274, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: mate: Right hand aligns the central hole of the green square block with the purple protrusion on the top of the target white tube."}
+{"subtask_index": 1275, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without movement. | Right hand: place_release: Right hand places the green square block onto the target white tube, presses it down to a fitted position, and releases its grip on the block."}
+{"subtask_index": 1276, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves leftward and downward from its initial right resting position toward the green hexagonal block on the table, with fingers extended."}
+{"subtask_index": 1277, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a stable grip."}
+{"subtask_index": 1278, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no observable movement of the hand, fingers or the gripped block."}
+{"subtask_index": 1279, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward until it is fully separated from the table surface."}
+{"subtask_index": 1280, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the green hexagonal block upward to position it directly above the target purple peg on the wooden base."}
+{"subtask_index": 1281, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand adjusts the orientation of the green hexagonal block, aligns its central hole with the purple peg, and moves the block downward to fit onto the peg with minor grip adjustments."}
+{"subtask_index": 1282, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface, with fingers held open."}
+{"subtask_index": 1283, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusting finger positions to close around the nut."}
+{"subtask_index": 1284, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the leftmost purple rod on the wooden assembly base."}
+{"subtask_index": 1285, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod, makes small positional adjustments, and lowers the block to fit onto the rod in assembly."}
+{"subtask_index": 1286, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place_release: Right hand places the white hexagonal column onto the corresponding rod of the wooden block stand, opening fingers to release the column."}
+{"subtask_index": 1287, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden block stand toward the white hexagonal nut on the front table surface."}
+{"subtask_index": 1288, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to contact and grasp the white hexagonal nut on the table surface."}
+{"subtask_index": 1289, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to the position above the purple peg on the wooden assembly base."}
+{"subtask_index": 1290, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align and fit it onto the purple peg."}
+{"subtask_index": 1291, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward and forward from the top of the wooden assembly base toward the white hexagonal nut placed on the table in front of the base, with fingers open and no contact with the target nut."}
+{"subtask_index": 1292, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, fingers adjust contact positions and close gradually to establish a grip, while the nut remains resting on the table surface."}
+{"subtask_index": 1293, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully separated from the black table surface."}
+{"subtask_index": 1294, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden assembly rack, moving it directly above the target purple peg."}
+{"subtask_index": 1295, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple peg."}
+{"subtask_index": 1296, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple peg until the nut rests stably on the wooden base of the rack."}
+{"subtask_index": 1297, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the green hexagonal block on the black table surface, with fingers held slightly open during movement."}
+{"subtask_index": 1298, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and adjusting contact positions to establish a grip on the block."}
+{"subtask_index": 1299, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, moving the block upward and toward the target purple peg on the wooden assembly base."}
+{"subtask_index": 1300, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central aperture of the green hexagonal block with the target purple peg, making small positional adjustments to fit the block onto the peg while lowering it."}
+{"subtask_index": 1301, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place_release: Right hand lowers the green hexagonal block to rest on the supporting block on the peg, opening fingers to release contact with the block."}
+{"subtask_index": 1302, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden peg stand toward the green hexagonal object on the black table surface, approaching the target without making contact."}
+{"subtask_index": 1303, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal object on the table, adjusting finger positions to close around the object to form a grip."}
+{"subtask_index": 1304, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the black table surface until the nut is fully separated from the table."}
+{"subtask_index": 1305, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the white hexagonal nut, moving it upward and toward the top of the target post on the wooden assembly base."}
+{"subtask_index": 1306, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target post, adjusts the nut position slightly, and moves the nut downward to fit it onto the post until the nut rests stably on the lower supporting block."}
+{"subtask_index": 1307, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the upper white hexagonal nut on the black table surface, approaching the target without contact."}
+{"subtask_index": 1308, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand contacts the upper white hexagonal nut on the table, gradually closing fingers and adjusting contact positions to establish a grasp on the nut."}
+{"subtask_index": 1309, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without moving."}
+{"subtask_index": 1310, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple rod on the wooden base."}
+{"subtask_index": 1311, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and fits the nut onto the rod."}
+{"subtask_index": 1312, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward and rightward from the area near the wooden block rack toward the white hexagonal nut resting on the table surface, remaining empty and not yet contacting the target block."}
+{"subtask_index": 1313, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers around the block and makes continuous slight adjustments to finger positions to establish a secure grip, with the block still resting on the table surface."}
+{"subtask_index": 1314, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: transport: Right hand carries the white hollow cylinder upward and leftward toward the purple peg on the wooden base."}
+{"subtask_index": 1315, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hollow cylinder, aligning its central hole with the top of the purple peg."}
+{"subtask_index": 1316, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: place: Right hand moves the aligned white hollow cylinder downward along the purple peg, placing it onto the peg on the wooden base."}
+{"subtask_index": 1317, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: release: Right hand opens fingers to release contact with the white bottle with purple cap placed on the wooden block stand, lifting fingers slightly away from the bottle top."}
+{"subtask_index": 1318, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: reach: Right hand moves downward through empty air toward the green square block resting on the dark table surface."}
+{"subtask_index": 1319, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green square block to establish a stable grasp on the object."}
+{"subtask_index": 1320, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and leftward to the position directly above the target bottle topped with a purple rod."}
+{"subtask_index": 1321, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable displacement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple rod, moves the block downward to fit it onto the rod until it rests stably on the white bottle cap."}
+{"subtask_index": 1322, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green cubic block in front of the left side of the wooden rack."}
+{"subtask_index": 1323, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip on the block."}
+{"subtask_index": 1324, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}
+{"subtask_index": 1325, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}
+{"subtask_index": 1326, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and toward the leftmost purple peg on the wooden base."}
+{"subtask_index": 1327, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block."}
+{"subtask_index": 1328, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 1329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost peg of the pegboard and releases it."}
+{"subtask_index": 1330, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table."}
+{"subtask_index": 1331, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers adjusting to form a stable grip."}
+{"subtask_index": 1332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}
+{"subtask_index": 1333, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the green base of the table, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 1334, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the green base and transports it to the position above the leftmost purple rod of the test tube rack."}
+{"subtask_index": 1335, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand fits the white hexagonal block onto the leftmost purple rod of the test tube rack and presses it down along the rod to the bottom green part."}
+{"subtask_index": 1336, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 1337, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper pegboard area toward the left white hexagonal block on the table."}
+{"subtask_index": 1338, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing around the block to establish a stable grip."}
+{"subtask_index": 1339, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}
+{"subtask_index": 1340, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form a stable grip."}
+{"subtask_index": 1341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden rack with vertical pegs."}
+{"subtask_index": 1342, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden rack, aligning and fitting the block onto the peg."}
+{"subtask_index": 1343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost vertical peg of the wooden rack without moving."}
+{"subtask_index": 1344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the leftmost purple post of the assembly rack and releases the ring."}
+{"subtask_index": 1345, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the assembly rack."}
+{"subtask_index": 1346, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 1347, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder with a central hole on the black table, fingers closing to secure the grip."}
+{"subtask_index": 1348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it upward to the position above the purple vertical peg on the wooden rack."}
+{"subtask_index": 1349, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white hexagonal cylinder downward, aligning its central hole with the purple peg and inserting the cylinder onto the peg."}
+{"subtask_index": 1350, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple peg without moving."}
+{"subtask_index": 1351, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal cylinder, fingers opening to separate from the cylinder."}
+{"subtask_index": 1352, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the green hexagonal block on the black table surface."}
+{"subtask_index": 1353, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to establish a stable grip."}
+{"subtask_index": 1354, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}
+{"subtask_index": 1355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to above the purple peg on the wooden base."}
+{"subtask_index": 1356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg."}
+{"subtask_index": 1357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green block on the black table surface."}
+{"subtask_index": 1358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the right area of the black table without moving."}
+{"subtask_index": 1360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the wooden rack with multiple pegs."}
+{"subtask_index": 1361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the front-middle vertical peg of the wooden rack by moving it downward."}
+{"subtask_index": 1362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the front-middle vertical peg of the wooden rack without moving."}
+{"subtask_index": 1363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the purple rod into the corresponding hole on the wooden pegboard and releases the rod."}
+{"subtask_index": 1364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden pegboard."}
+{"subtask_index": 1365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}
+{"subtask_index": 1366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 1367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}
+{"subtask_index": 1368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple object on top of the rightmost cylinder on the wooden base, with fingers opening to separate from the object."}
+{"subtask_index": 1369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the white hexagonal object on the table, with fingers slightly open."}
+{"subtask_index": 1370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the right side of the table without moving."}
+{"subtask_index": 1372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 1373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it onto the rod to establish assembly."}
+{"subtask_index": 1374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward along the purple rod to fit it into the final position."}
+{"subtask_index": 1375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical piece inserted in the rightmost front white bottle on the wooden rack by opening its fingers."}
+{"subtask_index": 1376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the green cube on the table with empty hand."}
+{"subtask_index": 1377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table by closing its fingers and adjusting the grip."}
+{"subtask_index": 1378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}
+{"subtask_index": 1379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right side of the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the bottle with the purple protrusion on the wooden tray."}
+{"subtask_index": 1381, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion of the bottle and inserts it slightly to establish the assembly relationship."}
+{"subtask_index": 1382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the axial direction of the bottle until it reaches the lower position of the bottle."}
+{"subtask_index": 1383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward towards the green cube located in front of the wooden rack on the black table."}
+{"subtask_index": 1384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the black table to establish a stable grip."}
+{"subtask_index": 1385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without any movement."}
+{"subtask_index": 1386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface."}
+{"subtask_index": 1387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the purple peg of the wooden rack."}
+{"subtask_index": 1388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg to complete assembly."}
+{"subtask_index": 1389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green block on the black table surface."}
+{"subtask_index": 1390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}
+{"subtask_index": 1391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to the position above the front left purple rod on the green base."}
+{"subtask_index": 1392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front left purple rod by aligning and lowering the block to fit the rod."}
+{"subtask_index": 1393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod on the wooden base."}
+{"subtask_index": 1395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple post of the assembly rack."}
+{"subtask_index": 1396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}
+{"subtask_index": 1397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 1398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}
+{"subtask_index": 1399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}
+{"subtask_index": 1400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 1401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green square block on the black table surface."}
+{"subtask_index": 1402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}
+{"subtask_index": 1403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it to the upper position of the purple rod on the wooden base."}
+{"subtask_index": 1404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and inserts it down onto the rod."}
+{"subtask_index": 1405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod after completing the assembly."}
+{"subtask_index": 1406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 1407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to establish grasp on the white hexagonal block on the table."}
+{"subtask_index": 1408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the green base."}
+{"subtask_index": 1409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves fingers away from the block."}
+{"subtask_index": 1410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}
+{"subtask_index": 1411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the upper white hexagonal block on the table."}
+{"subtask_index": 1412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper white hexagonal block on the table."}
+{"subtask_index": 1413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}
+{"subtask_index": 1414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases the block after it is fitted properly."}
+{"subtask_index": 1415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical cap onto the purple vertical rod on the wooden base."}
+{"subtask_index": 1416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 1417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}
+{"subtask_index": 1418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}
+{"subtask_index": 1419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it down until it reaches the base of the rod."}
+{"subtask_index": 1420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}
+{"subtask_index": 1421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the lower right area of the table."}
+{"subtask_index": 1422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the lower right area of the table."}
+{"subtask_index": 1423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white tube rack in the center of the table."}
+{"subtask_index": 1424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white tube with purple tip on the rack."}
+{"subtask_index": 1425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block from its grip."}
+{"subtask_index": 1426, "subtask": "Left hand: return_home: Left hand moves slightly downward and forward to the left home position, with fingers slightly curled inward to adjust posture. | Right hand: idle: Right hand remains empty at the right initial position without any observable movement or posture change."}
+{"subtask_index": 1427, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: idle: Right hand remains empty at the right initial position without any observable movement or posture change."}
+{"subtask_index": 1428, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal nut placed in front of the wooden block base, with fingers slightly open during movement."}
+{"subtask_index": 1429, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand contacts the green hexagonal nut in front of the wooden block base, closes fingers around the nut, and makes small adjustments to wrist and finger positions to form a stable grasp."}
+{"subtask_index": 1430, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating it from the original purple rod."}
+{"subtask_index": 1431, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally leftward to position it directly above the target purple rod."}
+{"subtask_index": 1432, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod and lowers the block to fit onto the rod."}
+{"subtask_index": 1433, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the green hexagonal block fitted on the target purple rod without observable movement."}
+{"subtask_index": 1434, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the position near the wooden peg stand toward the front white hexagonal block placed on the black table."}
+{"subtask_index": 1435, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal block, establishing contact with the block to form a grip."}
+{"subtask_index": 1436, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the front white hexagonal block steadily, with no observable movement of the hand, fingers, or the block which remains resting on the table surface."}
+{"subtask_index": 1437, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts the block upward until it is completely raised off the table."}
+{"subtask_index": 1438, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden assembly stand, moving the block directly above an empty purple post on the stand."}
+{"subtask_index": 1439, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post below and lowers the block to fit it onto the post, making slight positional adjustments to achieve proper alignment."}
+{"subtask_index": 1440, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple post without any observable movement of the hand or the block."}
+{"subtask_index": 1441, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the purple peg of the wooden peg base."}
+{"subtask_index": 1442, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward empty from the wooden peg base toward the white hexagonal nut block on the black table surface."}
+{"subtask_index": 1443, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut block on the black table surface."}
+{"subtask_index": 1444, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}
+{"subtask_index": 1445, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to the position above the purple peg on the wooden assembly stand."}
+{"subtask_index": 1446, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes fine position adjustments to align the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}
+{"subtask_index": 1447, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the position above the wooden peg assembly toward the white hexagonal block on the adjacent table surface, without touching the block."}
+{"subtask_index": 1448, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing around the block to form a grasp."}
+{"subtask_index": 1449, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface, moves the block to position it directly above the purple vertical rod on the wooden peg base."}
+{"subtask_index": 1450, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, lowers the block to fit it onto the rod."}
+{"subtask_index": 1451, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 1452, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to slide onto the corresponding purple peg on the wooden pegboard until the block rests on the base, and opens fingers to release grip on the block."}
+{"subtask_index": 1453, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the green hexagonal block on the black table surface, remaining empty."}
+{"subtask_index": 1454, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and adjusting contact positions to establish a grip on the block."}
+{"subtask_index": 1455, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block rack."}
+{"subtask_index": 1456, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it onto the rod on the wooden rack."}
+{"subtask_index": 1457, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward with open fingers from the area above the wooden block set toward the white hexagonal block on the black table surface, approaching the target block."}
+{"subtask_index": 1458, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}
+{"subtask_index": 1459, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the green block on the wooden stacking base."}
+{"subtask_index": 1460, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand makes small lateral and rotational adjustments to align the central hole of the white hexagonal block with the vertical peg on the green block, gradually moving the block downward toward the green block surface."}
+{"subtask_index": 1461, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reorient: Right hand lifts the white hexagonal block slightly upward and rotates it about a quarter turn to adjust the alignment of its central hole relative to the green block peg, with minimal lateral movement."}
+{"subtask_index": 1462, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand adjusts the reoriented white hexagonal block to align its central hole with the green block peg, gradually moving the block downward toward the green block surface."}
+{"subtask_index": 1463, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves downward and rightward from its initial position near the stacked block set, approaching the white hexagonal nut placed on the table to the right of the wooden block base, with fingers open and no contact made with the nut."}
+{"subtask_index": 1464, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers close and make subtle adjustments to grip position, while the nut remains supported by the table surface."}
+{"subtask_index": 1465, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift_transport: Right hand grips the white hexagonal nut, lifts it completely off the black table surface, and moves it upward and leftward to the position directly above the purple post on the wooden block stand."}
+{"subtask_index": 1466, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple post on the wooden block stand, moves the nut downward to fit it onto the post."}
+{"subtask_index": 1467, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod of the wooden rack, separating from the nut."}
+{"subtask_index": 1468, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut placed on the dark table surface, with no contact to the nut during this movement."}
+{"subtask_index": 1469, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the white hexagonal nut on the table, forming a stable grip while the nut remains resting on the table."}
+{"subtask_index": 1470, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand moves upward while holding the grasped white hexagonal nut, lifting the nut completely off the table surface."}
+{"subtask_index": 1471, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple rod on the wooden block rack."}
+{"subtask_index": 1472, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple rod, fits the block onto the rod, lowers it to rest on the supporting piece below, and releases the block by opening the fingers."}
+{"subtask_index": 1473, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: retreat: Right hand moves downward and rightward away from the wooden block assembly base, retreating from the previous block operation area."}
+{"subtask_index": 1474, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: reach: Right hand moves toward the green holed block on the lower right of the table, approaching the target without establishing contact."}
+{"subtask_index": 1475, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: grasp: Right hand makes contact with the green holed block, closing fingers and making small adjustments to form a grip on the block."}
+{"subtask_index": 1476, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: lift: Right hand lifts the green cubic block upward until the block is completely separated from the table surface."}
+{"subtask_index": 1477, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: transport: Right hand carries the green cubic block and moves it leftward to the position directly above the front-right bottle on the wooden rack."}
+{"subtask_index": 1478, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the front-right bottle, moves the block downward to fit it onto the bottle until the block is supported by the bottle."}
+{"subtask_index": 1479, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or posture change. | Right hand: release: Right hand opens fingers to release the green cubic block fitted on the bottle, separating from the block."}
+{"subtask_index": 1480, "subtask": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers opening slightly at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}
+{"subtask_index": 1481, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}
+{"subtask_index": 1482, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table below the left side of the wooden rack, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1483, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hollow hexagonal block from the black worktable surface."}
+{"subtask_index": 1484, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hollow hexagonal block to the position above the leftmost peg of the pegboard."}
+{"subtask_index": 1485, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hollow hexagonal block onto the leftmost peg, sliding it downward along the peg to complete assembly."}
+{"subtask_index": 1486, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the rightmost purple peg of the wooden base and releases it."}
+{"subtask_index": 1487, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop."}
+{"subtask_index": 1488, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing and adjusting."}
+{"subtask_index": 1489, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the tabletop without moving."}
+{"subtask_index": 1490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green base on the black table."}
+{"subtask_index": 1491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the top of a purple test tube in the wooden rack."}
+{"subtask_index": 1492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves downward to mate the white hexagonal block onto the top of the purple test tube."}
+{"subtask_index": 1493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple test tube without moving."}
+{"subtask_index": 1494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal component onto the purple post of the central rack and releases its grip."}
+{"subtask_index": 1495, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 1496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table surface."}
+{"subtask_index": 1497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}
+{"subtask_index": 1498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing around the object to form a stable grip."}
+{"subtask_index": 1499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table surface and transports it upward and leftward toward the test tube rack."}
+{"subtask_index": 1500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the top of the front-left purple test tube and fits it onto the test tube."}
+{"subtask_index": 1501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal object downward along the purple test tube to secure it in place."}
+{"subtask_index": 1502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers and separating from the object."}
+{"subtask_index": 1503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the wooden base."}
+{"subtask_index": 1504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part off the table and moves it to the position above the purple peg on the wooden rack."}
+{"subtask_index": 1506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand lowers the white hollow cylindrical part along the purple peg on the wooden rack to complete mating, and releases its grip once the part is fully seated."}
+{"subtask_index": 1507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the lower right area of the table with an empty hand."}
+{"subtask_index": 1508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the purple rod to approach the green hexagonal block on the table, without contact."}
+{"subtask_index": 1509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, with slight adjustments to stabilize the grip."}
+{"subtask_index": 1510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward and leftward to the position above the target white post on the wooden base."}
+{"subtask_index": 1511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target white post and moves downward to fit the block onto the post."}
+{"subtask_index": 1512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden rack."}
+{"subtask_index": 1513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 1514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 1515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, moving downward to fit the block's hole over the rod."}
+{"subtask_index": 1516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod of the wooden rack without moving."}
+{"subtask_index": 1517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden rack, with fingers opening."}
+{"subtask_index": 1518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the table."}
+{"subtask_index": 1519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}
+{"subtask_index": 1520, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}
+{"subtask_index": 1521, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the black table, with fingers closing around the block."}
+{"subtask_index": 1522, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, lowering the block to fit around the rod."}
+{"subtask_index": 1523, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly away from the block."}
+{"subtask_index": 1524, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden rack."}
+{"subtask_index": 1525, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg to complete assembly."}
+{"subtask_index": 1526, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers open and separate from the block."}
+{"subtask_index": 1527, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple small component into the front-right white bottle on the wooden rack and releases the component."}
+{"subtask_index": 1528, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table with empty hand."}
+{"subtask_index": 1529, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers adjusting to fit the block shape."}
+{"subtask_index": 1530, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward, making the block completely leave the black table surface."}
+{"subtask_index": 1531, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the right-front white bottle on the wooden base."}
+{"subtask_index": 1532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the right-front white bottle, aligning and fitting the hollow block onto the bottle."}
+{"subtask_index": 1533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the top of the right-front white bottle without moving."}
+{"subtask_index": 1534, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}
+{"subtask_index": 1535, "subtask": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table. | Right hand: reach: Right hand moves toward the green cube located at the left front of the wooden rack."}
+{"subtask_index": 1536, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube located at the left front of the wooden rack."}
+{"subtask_index": 1537, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 1538, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple pillar on the wooden base."}
+{"subtask_index": 1539, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple pillar and inserts it downwards to finish the assembly."}
+{"subtask_index": 1540, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}
+{"subtask_index": 1541, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 1542, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the top of the leftmost purple rod on the wooden rack."}
+{"subtask_index": 1543, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by aligning the block's hole with the rod."}
+{"subtask_index": 1544, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down along the leftmost purple rod until it rests on the green base at the bottom of the rod."}
+{"subtask_index": 1545, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}
+{"subtask_index": 1546, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the green base."}
+{"subtask_index": 1547, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1548, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the white hexagonal block on the black table surface."}
+{"subtask_index": 1549, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the test tube rack."}
+{"subtask_index": 1550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod of the test tube rack."}
+{"subtask_index": 1551, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hollow block placed on the black tabletop."}
+{"subtask_index": 1552, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}
+{"subtask_index": 1553, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target peg on the wooden base."}
+{"subtask_index": 1554, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and pushes it down onto the peg to complete assembly."}
+{"subtask_index": 1555, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the peg."}
+{"subtask_index": 1556, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}
+{"subtask_index": 1557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}
+{"subtask_index": 1558, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cubic block on the black tabletop."}
+{"subtask_index": 1559, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the desktop and transports it towards the white post on the wooden rack."}
+{"subtask_index": 1560, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target white post on the wooden rack and inserts it onto the post."}
+{"subtask_index": 1561, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the white post until it is fully seated on the wooden rack."}
+{"subtask_index": 1562, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white peg on the wooden base."}
+{"subtask_index": 1563, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 1564, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 1565, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden rack."}
+{"subtask_index": 1566, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until the block is supported by the rod."}
+{"subtask_index": 1567, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}
+{"subtask_index": 1568, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 1569, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}
+{"subtask_index": 1570, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1571, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole and pressing it down."}
+{"subtask_index": 1572, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats from the wooden base."}
+{"subtask_index": 1573, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table, not making contact with the block yet."}
+{"subtask_index": 1574, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}
+{"subtask_index": 1575, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table."}
+{"subtask_index": 1576, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers again to re-grasp the white hexagonal block on the table."}
+{"subtask_index": 1577, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table surface and transports it to the upper position of the purple peg on the wooden rack."}
+{"subtask_index": 1578, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple peg and inserts it onto the peg to complete assembly."}
+{"subtask_index": 1579, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the empty position of the wooden base."}
+{"subtask_index": 1580, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table surface."}
+{"subtask_index": 1581, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}
+{"subtask_index": 1582, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}
+{"subtask_index": 1583, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar on the wooden base."}
+{"subtask_index": 1584, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the white pillar by inserting the pillar into the hole of the green block."}
+{"subtask_index": 1585, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves from its initial right-side resting position toward the front-left green hexagonal nut on the table, with fingers extended as it approaches the target."}
+{"subtask_index": 1586, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the front-left green hexagonal nut near the wooden peg board, adjusting finger positions and wrist angle to establish a grip on the nut."}
+{"subtask_index": 1587, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above a purple post on the wooden rack."}
+{"subtask_index": 1588, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the purple post, and fits the block onto the post to complete assembly."}
+{"subtask_index": 1589, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without observable movement of the hand, fingers or the block."}
+{"subtask_index": 1590, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard, fingers opening to release the nut once it rests on the supporting structure."}
+{"subtask_index": 1591, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach_grasp: Right hand moves downward to approach the white hexagonal nut on the black tabletop, fingers closing around the nut to establish a firm grip."}
+{"subtask_index": 1592, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface with no visible movement of the hand, fingers or the gripped object."}
+{"subtask_index": 1593, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand adjusts finger positions to close around and securely grasp the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 1594, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the area above the target purple rod on the wooden block base."}
+{"subtask_index": 1595, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align it with the target purple rod, then lowers the nut to fit it onto the rod."}
+{"subtask_index": 1596, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves downwards from the area near the wooden pegboard toward the white hexagonal nut on the black table surface, staying empty before making contact with the nut."}
+{"subtask_index": 1597, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and make small adjustments to form a grasp on the nut, which remains resting on the table surface."}
+{"subtask_index": 1598, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table and moves it upward to position directly above the unoccupied purple rod on the wooden component rack."}
+{"subtask_index": 1599, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, makes small positional adjustments, and lowers the nut to fit it onto the rod."}
+{"subtask_index": 1600, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple post of the wooden base, and opens fingers to release the settled block."}
+{"subtask_index": 1601, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the table in front of the wooden base."}
+{"subtask_index": 1602, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting contact positions to establish a grip."}
+{"subtask_index": 1603, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and forward to the position above the purple peg on the wooden base."}
+{"subtask_index": 1604, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers the block to fit it onto the peg."}
+{"subtask_index": 1605, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}
+{"subtask_index": 1606, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to seat it on the purple peg of the wooden assembly base, with fingers opening to release the block."}
+{"subtask_index": 1607, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward and leftward across the black table surface toward the green hexagonal block."}
+{"subtask_index": 1608, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grip."}
+{"subtask_index": 1609, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the purple vertical rod on the wooden assembly."}
+{"subtask_index": 1610, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit onto the rod."}
+{"subtask_index": 1611, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand places the green hexagonal block onto the post of the wooden assembly base and releases the block with fingers opening."}
+{"subtask_index": 1612, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1613, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes and adjusts fingers to form a grip on the white hexagonal nut on the black table surface."}
+{"subtask_index": 1614, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}
+{"subtask_index": 1615, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly base and adjusts its position to fit the nut onto the rod."}
+{"subtask_index": 1616, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place_release: Right hand positions the white cylindrical object upright into the hole on the wooden base, fingers opening to release contact with the stabilized object."}
+{"subtask_index": 1617, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 1618, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish contact and form a grasp."}
+{"subtask_index": 1619, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}
+{"subtask_index": 1620, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod."}
+{"subtask_index": 1621, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement of the hand or the nut."}
+{"subtask_index": 1622, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the white hexagonal hole on the wooden base, until the cylinder is stably supported by the base."}
+{"subtask_index": 1623, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the inserted light purple cylinder, separating the hand from the cylinder surface."}
+{"subtask_index": 1624, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty in a down-right direction toward the white hexagonal nut placed on the black table surface, approaching the target without contact."}
+{"subtask_index": 1625, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grasp."}
+{"subtask_index": 1626, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without moving."}
+{"subtask_index": 1627, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the empty slot on the wooden block holder."}
+{"subtask_index": 1628, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden holder and lowers the block to insert it into the slot, making slight positional adjustments to fit the block properly."}
+{"subtask_index": 1629, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the white cylindrical block with purple rod resting on the wooden block rack."}
+{"subtask_index": 1630, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: reach: Right hand moves empty in a downward-right direction toward the small green hollow square block on the dark table surface."}
+{"subtask_index": 1631, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: grasp: Right hand contacts the small green hollow square block and adjusts finger positions while closing to establish a grip on the block."}
+{"subtask_index": 1632, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and transports it upward toward the top of the wooden block rack."}
+{"subtask_index": 1633, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: mate: Right hand aligns the hollow green block with the purple-topped white post on the rack, making slight positional adjustments to fit the block onto the post."}
+{"subtask_index": 1634, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, without contacting or moving toward any operational objects, staying largely still with only minor initial finger posture adjustments. | Right hand: release: Right hand opens its fingers to release the green block seated securely on the post."}
+{"subtask_index": 1635, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the wooden base."}
+{"subtask_index": 1636, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, fingers adjust to form a stable grip."}
+{"subtask_index": 1637, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it to the position above the target purple peg on the wooden base."}
+{"subtask_index": 1638, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 1639, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fix it in position."}
+{"subtask_index": 1640, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}
+{"subtask_index": 1641, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}
+{"subtask_index": 1642, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface with finger adjustments."}
+{"subtask_index": 1643, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the test tube rack."}
+{"subtask_index": 1644, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack."}
+{"subtask_index": 1645, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod of the test tube rack."}
+{"subtask_index": 1646, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}
+{"subtask_index": 1647, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1648, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 1649, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 1650, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple rod and inserts it onto the rod."}
+{"subtask_index": 1651, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple rod without moving."}
+{"subtask_index": 1652, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg of the wooden base and releases the block."}
+{"subtask_index": 1653, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block placed on the black tabletop."}
+{"subtask_index": 1654, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the black tabletop."}
+{"subtask_index": 1655, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 1656, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}
+{"subtask_index": 1657, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}
+{"subtask_index": 1658, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white hexagonal block down to the bottom of the purple rod."}
+{"subtask_index": 1659, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}
+{"subtask_index": 1660, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward from the pegged wooden board towards the green hollow block on the black table."}
+{"subtask_index": 1661, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand touches the green hollow block on the table, fingers adjusting to form a stable grasp."}
+{"subtask_index": 1662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 1663, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand aligns the green block with the top of the purple rod on the wooden rack."}
+{"subtask_index": 1664, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the green block down onto the purple rod until it is fully seated."}
+{"subtask_index": 1665, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the green block on the purple rod and moves slightly upward."}
+{"subtask_index": 1666, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white ring onto the peg of the wooden base."}
+{"subtask_index": 1667, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring placed on the black table."}
+{"subtask_index": 1668, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal ring on the black table."}
+{"subtask_index": 1669, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the green block and transports it towards the wooden base."}
+{"subtask_index": 1670, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod on the wooden base."}
+{"subtask_index": 1671, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, fingers open gradually."}
+{"subtask_index": 1672, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1673, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close gradually to establish grip."}
+{"subtask_index": 1674, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden rack."}
+{"subtask_index": 1675, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's central hole."}
+{"subtask_index": 1676, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: press: Right hand presses the white cylindrical component down onto the purple rod on the wooden base."}
+{"subtask_index": 1677, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 1678, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 1679, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}
+{"subtask_index": 1680, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}
+{"subtask_index": 1681, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}
+{"subtask_index": 1682, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp_release: Right hand grasps and adjusts the white bottle with purple top on the wooden base and releases it."}
+{"subtask_index": 1683, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the green cube on the black table."}
+{"subtask_index": 1684, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: reach: Right hand reaches towards the green cube placed on the black table."}
+{"subtask_index": 1685, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: grasp: Right hand grasps the green cube on the black table."}
+{"subtask_index": 1686, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}
+{"subtask_index": 1687, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple cap on the wooden tray."}
+{"subtask_index": 1688, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple cap on the wooden tray."}
+{"subtask_index": 1689, "subtask": "Left hand: idle: Left hand remains empty at the left side of the scene without moving. | Right hand: release: Right hand releases the green block from its grasp."}
+{"subtask_index": 1690, "subtask": "Left hand: reach: Left hand moves from the initial upper-left position toward the central workspace, with fingers slightly adjusting during the movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers extended as it approaches the target."}
+{"subtask_index": 1691, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden peg board, with fingers extended as it approaches the target."}
+{"subtask_index": 1692, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block in front of the wooden peg board, adjusting wrist and finger positions to form a secure grasp while the block remains on the table surface."}
+{"subtask_index": 1693, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the green hexagonal block steadily in front of the wooden peg board, with no observable movement of the hand, fingers or the block."}
+{"subtask_index": 1694, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface to establish a stable grasp."}
+{"subtask_index": 1695, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}
+{"subtask_index": 1696, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg, completing the assembly."}
+{"subtask_index": 1697, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement or hand shape adjustment."}
+{"subtask_index": 1698, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard to approach the white hexagonal nut on the black table surface, with fingers slightly open."}
+{"subtask_index": 1699, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand adjusts finger positions incrementally and closes fingers around the white hexagonal nut on the table to form a stable grip."}
+{"subtask_index": 1700, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand grips the white hexagonal nut on the green support block and lifts it upward until the nut is fully separated from the block."}
+{"subtask_index": 1701, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 1702, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit it onto the rod."}
+{"subtask_index": 1703, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement."}
+{"subtask_index": 1704, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: press: Right hand presses the top of the white and green cylindrical block on the purple peg to fully seat it on the wooden pegboard."}
+{"subtask_index": 1705, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1706, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}
+{"subtask_index": 1707, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly block."}
+{"subtask_index": 1708, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg as part of the assembly process."}
+{"subtask_index": 1709, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand releases the white capped block seated on the purple peg, opening fingers and moving downward away from the block to end contact."}
+{"subtask_index": 1710, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block positioned directly in front of the wooden peg base, approaching the block without establishing contact."}
+{"subtask_index": 1711, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, adjusting finger placement and closing fingers to establish a stable grasp on the block."}
+{"subtask_index": 1712, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden base."}
+{"subtask_index": 1713, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and moves it downward to fit the block onto the rod."}
+{"subtask_index": 1714, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: place_release: Right hand positions the white hexagonal block onto the short peg of the wooden board until the block is stably supported, with fingers opening to release contact with the block."}
+{"subtask_index": 1715, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward with open fingers to approach the green hexagonal block resting on the black table surface."}
+{"subtask_index": 1716, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closes fingers and adjusts grip to establish stable contact with the block."}
+{"subtask_index": 1717, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to the position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 1718, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, moves the block downward to nest onto the rod, and opens its fingers to release the block onto the rod."}
+{"subtask_index": 1719, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple vertical rod on the wooden assembly base, opens fingers to release the block as it becomes stably supported by the rod."}
+{"subtask_index": 1720, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves empty downward and leftward from the assembly base area toward the loose white hexagonal block resting on the dark table surface."}
+{"subtask_index": 1721, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block, and makes small adjustments to finger contact positions to establish a firm grip."}
+{"subtask_index": 1722, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the area above the wooden block assembly base."}
+{"subtask_index": 1723, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand adjusts the white hexagonal nut to align with the vertical rod on the wooden block base, fits the nut onto the rod, and opens fingers to release the nut in place."}
+{"subtask_index": 1724, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: retreat: Right hand moves empty away from the wooden block assembly toward the right side of the workspace."}
+{"subtask_index": 1725, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves down and left toward the nearest white hexagonal block next to the wooden block stand with an open hand, no contact with the block yet."}
+{"subtask_index": 1726, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the nearest white hexagonal block next to the wooden block stand, making small adjustments to establish grip on the block."}
+{"subtask_index": 1727, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface, lifting it upward until the nut is fully separated from the table."}
+{"subtask_index": 1728, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden assembly base, positioning the nut directly above the purple vertical rod."}
+{"subtask_index": 1729, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowering the nut to fit it onto the rod until it rests on the stacked block below."}
+{"subtask_index": 1730, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating from the nut on the purple rod."}
+{"subtask_index": 1731, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves downward from the area adjacent to the block rack toward the first white hexagonal nut on the black table surface, with fingers slightly open."}
+{"subtask_index": 1732, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the first white hexagonal nut on the table, adjusts finger contact positions and slightly rotates the nut on the table surface to form a grip."}
+{"subtask_index": 1733, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand opens fingers to release the first white hexagonal nut, fully separating from the nut which remains resting on the table surface."}
+{"subtask_index": 1734, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves toward the second white hexagonal nut positioned next to the small green block on the table surface, with fingers slightly extended."}
+{"subtask_index": 1735, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand closes fingers around the second white hexagonal nut adjacent to the green block, adjusting finger positions to begin forming a grip on the nut."}
+{"subtask_index": 1736, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the black table surface."}
+{"subtask_index": 1737, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the white hexagonal block, moving it leftward to the position above the purple rod on the wooden block stand."}
+{"subtask_index": 1738, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly, aligns its central hole with the purple rod, and lowers it to fit onto the rod."}
+{"subtask_index": 1739, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: release: Right hand releases the light purple-topped white cylindrical piece seated on the rightmost peg of the wooden base, fingers opening to separate completely from the piece."}
+{"subtask_index": 1740, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: reach: Right hand moves empty downward from the wooden peg base area toward the small green square block on the black table surface, approaching the block without making contact."}
+{"subtask_index": 1741, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand fingers close around the small green square block on the table, making small wrist and finger adjustments to form a grip, shifting the block slightly on the table surface."}
+{"subtask_index": 1742, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: hold: Right hand maintains a light static grip on the small green square block on the table surface, with no wrist, finger or block movement."}
+{"subtask_index": 1743, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: grasp: Right hand makes small finger and wrist adjustments to its grip on the small green square block, repositioning contact points on the block surface."}
+{"subtask_index": 1744, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: lift: Right hand holds the green ring with closed fingers and lifts it vertically upward until the ring fully leaves the dark table surface."}
+{"subtask_index": 1745, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: transport: Right hand carries the grasped green ring, moving it upward and leftward through the air to the position directly above the target white peg on the wooden block holder."}
+{"subtask_index": 1746, "subtask": "Left hand: idle: Left hand remains empty in the left area of the workspace, staying stationary with no contact to any operated objects. | Right hand: mate_release: Right hand aligns the green ring with the target white peg, lowers the ring to nest it onto the peg, opens fingers to release the ring resting stably on the peg."}
+{"subtask_index": 1747, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves from its initial resting position on the right side toward the green hexagonal block placed on the table in front of the wooden pegboard."}
+{"subtask_index": 1748, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block which stays on the table surface."}
+{"subtask_index": 1749, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until the block is fully separated from the black table surface."}
+{"subtask_index": 1750, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally toward the wooden assembly base, stopping directly above a purple peg on the base."}
+{"subtask_index": 1751, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the grasped green hexagonal block with the purple peg on the wooden assembly base, fitting the block onto the upper section of the peg."}
+{"subtask_index": 1752, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests on the white hexagonal component on the wooden base."}
+{"subtask_index": 1753, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or the block."}
+{"subtask_index": 1754, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand lowers the green hexagonal block onto the purple peg of the wooden rack until the block is fully supported by the rack base."}
+{"subtask_index": 1755, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward through empty space toward the front white hexagonal nut resting on the black table surface."}
+{"subtask_index": 1756, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grasp."}
+{"subtask_index": 1757, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut near the black table surface without moving."}
+{"subtask_index": 1758, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward to the position directly above the purple post on the wooden assembly base."}
+{"subtask_index": 1759, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post and fits the nut onto the top end of the post."}
+{"subtask_index": 1760, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place: Right hand slides the white hexagonal nut downward along the purple post until the nut rests stably on the green base block."}
+{"subtask_index": 1761, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place_release: Right hand sets the white cap onto the purple peg on the wooden assembly board, opens fingers to release the cap once the cap is stably supported by the peg."}
+{"subtask_index": 1762, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1763, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to establish a stable grip."}
+{"subtask_index": 1764, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward toward the purple vertical rod on the wooden peg stand."}
+{"subtask_index": 1765, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers the block to fit it onto the rod."}
+{"subtask_index": 1766, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward from the area above the wooden peg assembly toward the white hexagonal block on the black table in front of the assembly, with fingers held open."}
+{"subtask_index": 1767, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to establish a grip on the block which stays on the table surface."}
+{"subtask_index": 1768, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}
+{"subtask_index": 1769, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the right to position it directly above the target purple rod on the wooden base."}
+{"subtask_index": 1770, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut downward along the rod to seat it on the assembly."}
+{"subtask_index": 1771, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without any observable movement of the hand or nut."}
+{"subtask_index": 1772, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed in front of the wooden assembly base, with fingers slightly open while approaching the target."}
+{"subtask_index": 1773, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers around the block to establish a stable grasp."}
+{"subtask_index": 1774, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table, moves it upward and toward the wooden block assembly to position it above the purple cylindrical post."}
+{"subtask_index": 1775, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the grasped green hexagonal block with the purple cylindrical post on the wooden base, making slight positional adjustments to fit the block onto the post."}
+{"subtask_index": 1776, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that is fitted onto the purple cylindrical post."}
+{"subtask_index": 1777, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target with an open hand."}
+{"subtask_index": 1778, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table, forming a grip on the object."}
+{"subtask_index": 1779, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand holds a white hexagonal nut resting on the black table surface, lifts the nut upward until the nut is fully lifted off the table and suspended in air."}
+{"subtask_index": 1780, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the suspended white hexagonal nut, moving it toward the wooden assembly block until the nut is positioned directly above the purple vertical post on the block."}
+{"subtask_index": 1781, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical post below, moves the nut downward to fit it onto the post, and makes small wrist and finger adjustments to properly seat the nut on the post."}
+{"subtask_index": 1782, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: place_release: Right hand lowers the white-topped green block onto the purple rod of the wooden assembly rack and opens fingers to separate from the block resting on the rack."}
+{"subtask_index": 1783, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal nut on the black table surface adjacent to the wooden assembly rack, fingers maintained in a slightly open posture."}
+{"subtask_index": 1784, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to establish a secure hold."}
+{"subtask_index": 1785, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without moving."}
+{"subtask_index": 1786, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the purple rod on the wooden block assembly."}
+{"subtask_index": 1787, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand slightly adjusts the white hexagonal nut's position to align its central hole with the purple rod, moving the nut downward to fit onto the rod."}
+{"subtask_index": 1788, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand releases the purple cylindrical piece on the wooden block rack, with fingers opening to separate from the cylindrical piece."}
+{"subtask_index": 1789, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the black table, keeping an open hand as it approaches the target nut."}
+{"subtask_index": 1790, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip."}
+{"subtask_index": 1791, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward off the black table surface."}
+{"subtask_index": 1792, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden block assembly holding other hexagonal pieces."}
+{"subtask_index": 1793, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly, moving it downward to fit onto the rod."}
+{"subtask_index": 1794, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating from the nut placed on the purple rod."}
+{"subtask_index": 1795, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface with an empty hand."}
+{"subtask_index": 1796, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger positions to form a grip on the block."}
+{"subtask_index": 1797, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: lift: Right hand lifts the green hexagonal ring upward from the dark table surface, with fingers closed securely around the ring."}
+{"subtask_index": 1798, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: transport: Right hand carries the green hexagonal ring upward and leftward through the air to position it directly above the target white cylinder on the wooden block base."}
+{"subtask_index": 1799, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: mate: Right hand lowers the green hexagonal ring over the target white cylinder, aligning the ring's central opening with the cylinder top to fit the ring onto the cylinder."}
+{"subtask_index": 1800, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without noticeable movement. | Right hand: hold: Right hand holds the fitted green hexagonal ring steady on top of the target white cylinder without any visible movement."}
+{"subtask_index": 1801, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty from its initial right-side position downward and leftward, approaching the green hexagonal block located to the left of the wooden cylindrical stand."}
+{"subtask_index": 1802, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making minor finger and wrist adjustments to establish a grasp, with the block remaining on the table surface."}
+{"subtask_index": 1803, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black work surface and transports it to the position directly above the target purple rod on the wooden assembly base."}
+{"subtask_index": 1804, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, moves the block downward to fit it onto the rod until it rests on the existing blocks below."}
+{"subtask_index": 1805, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple rod without any observable movement."}
+{"subtask_index": 1806, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the wooden pegboard area to approach the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1807, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the contacted white hexagonal nut, with slight finger adjustments to form a stable grip."}
+{"subtask_index": 1808, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement or hand shape change."}
+{"subtask_index": 1809, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal nut resting on the green support block on the table to establish a stable hold."}
+{"subtask_index": 1810, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green support block and moves it upward then horizontally toward the target purple peg on the wooden assembly base."}
+{"subtask_index": 1811, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden base, making slight positional and rotational adjustments to fit the nut over the peg."}
+{"subtask_index": 1812, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand lowers the white hexagonal nut down along the aligned purple peg until it rests stably on the green support block below the peg."}
+{"subtask_index": 1813, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface in front of the wooden base."}
+{"subtask_index": 1814, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to form a stable grasp."}
+{"subtask_index": 1815, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden pegboard."}
+{"subtask_index": 1816, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align it with the purple rod and lowers the nut to fit it onto the rod, establishing the mated assembly state."}
+{"subtask_index": 1817, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple rod without any observable movement of the hand, fingers or the nut."}
+{"subtask_index": 1818, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the area near the block assembly structure toward the white hexagonal nut resting on the table adjacent to the wooden assembly base."}
+{"subtask_index": 1819, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, with fingers closing and making small adjustments to form a grip on the nut, which remains supported by the table surface."}
+{"subtask_index": 1820, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple peg on the wooden base."}
+{"subtask_index": 1821, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit onto the peg."}
+{"subtask_index": 1822, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement."}
+{"subtask_index": 1823, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate_release: Right hand holds the purple cylindrical peg, aligns and inserts it into the corresponding purple hole on the wooden pegboard, and releases the peg."}
+{"subtask_index": 1824, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward from the wooden pegboard toward the green hexagonal block on the table surface."}
+{"subtask_index": 1825, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish contact with the block."}
+{"subtask_index": 1826, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden assembly rack."}
+{"subtask_index": 1827, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit it onto the rod until it rests on the white block below."}
+{"subtask_index": 1828, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement or hand shape adjustment."}
+{"subtask_index": 1829, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward while empty, approaching the green hexagonal block placed on the black table surface."}
+{"subtask_index": 1830, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a stable grasp on the block."}
+{"subtask_index": 1831, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving it upward and toward the wooden block set until it sits directly above the purple mounting rod."}
+{"subtask_index": 1832, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the held white hexagonal nut to align it with the purple rod on the wooden base, moving the nut downward to fit it onto the rod and seat it on the nut positioned below."}
+{"subtask_index": 1833, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: release: Right hand opens fingers gradually to release the white hexagonal nut seated on the purple rod, separating the hand from the nut surface."}
+{"subtask_index": 1834, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward and to the right toward the loose white hexagonal block placed on the black table surface next to the wooden rack, staying empty without touching the block."}
+{"subtask_index": 1835, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand contacts the loose white hexagonal block on the table, fingers closing and making small adjustments to form a grip, with the block remaining on the table surface."}
+{"subtask_index": 1836, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}
+{"subtask_index": 1837, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}
+{"subtask_index": 1838, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod on the wooden assembly stand."}
+{"subtask_index": 1839, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and moves the block downward to fit onto the rod."}
+{"subtask_index": 1840, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod until the block rests stably on the supporting white block below."}
+{"subtask_index": 1841, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block on the black table surface."}
+{"subtask_index": 1842, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp."}
+{"subtask_index": 1843, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts it upward until the block fully leaves the table surface."}
+{"subtask_index": 1844, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and leftward toward the purple post on the wooden block rack."}
+{"subtask_index": 1845, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple post on the rack, fitting the block onto the post."}
+{"subtask_index": 1846, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place_release: Right hand positions the white cylindrical block with a purple rod into the matching hole on the wooden holder, opening fingers to release the block into place."}
+{"subtask_index": 1847, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward toward the green square block resting on the dark table surface."}
+{"subtask_index": 1848, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing fingers and adjusting contact points to secure a grip on the block."}
+{"subtask_index": 1849, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: lift: Right hand holds the green square block and lifts it vertically upward from the dark table surface until the block is completely raised off the table."}
+{"subtask_index": 1850, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted green square block upward and leftward, moving it to the position above the white capped cylinders on the light wooden rack."}
+{"subtask_index": 1851, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: mate: Right hand makes small fine positional adjustments to the green square block, aligning it with the top of the rightmost purple-tipped white cylinder on the wooden rack."}
+{"subtask_index": 1852, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without observable movement or contact with any operated object. | Right hand: place: Right hand lowers the aligned green square block vertically downward onto the top of the target purple-tipped white cylinder until the block is stably supported by the cylinder."}
+{"subtask_index": 1853, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table in front of the wooden peg rack."}
+{"subtask_index": 1854, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grip on the block."}
+{"subtask_index": 1855, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green cubic block upwards until it is fully separated from the table surface."}
+{"subtask_index": 1856, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green cubic block to the position above the target purple rod on the wooden rack."}
+{"subtask_index": 1857, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green cubic block onto the target purple rod by aligning the block's hole with the rod and lowering it down."}
+{"subtask_index": 1858, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: pull_transport: Right hand pulls the white hexagonal block out of the wooden base and transports it down to the black table surface."}
+{"subtask_index": 1859, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the black table surface."}
+{"subtask_index": 1860, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it above the leftmost purple rod on the wooden base."}
+{"subtask_index": 1861, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple rod on the wooden base."}
+{"subtask_index": 1862, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1863, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}
+{"subtask_index": 1864, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple rod on the wooden base."}
+{"subtask_index": 1865, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod on the wooden base, adjusting position to fit the rod."}
+{"subtask_index": 1866, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the white hexagonal block on the table."}
+{"subtask_index": 1867, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the white hexagonal block on the table."}
+{"subtask_index": 1868, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object and transports it to the position above the purple rod on the wooden rack."}
+{"subtask_index": 1869, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal object onto the purple rod on the wooden rack."}
+{"subtask_index": 1870, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white hollow block onto the purple peg of the wooden base."}
+{"subtask_index": 1871, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green hollow block on the table."}
+{"subtask_index": 1872, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the green hollow block on the table."}
+{"subtask_index": 1873, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1874, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by inserting it downwards onto the rod."}
+{"subtask_index": 1875, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward from the wooden base towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1876, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to establish a stable grip."}
+{"subtask_index": 1877, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 1878, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and inserts it downwards to complete assembly."}
+{"subtask_index": 1879, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 1880, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the black tabletop."}
+{"subtask_index": 1881, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the black tabletop."}
+{"subtask_index": 1882, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1883, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden base."}
+{"subtask_index": 1884, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring which is placed on the purple rod."}
+{"subtask_index": 1885, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches towards the other white ring on the black table."}
+{"subtask_index": 1886, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1887, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden block base."}
+{"subtask_index": 1888, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the cylindrical peg on the wooden base and inserts it onto the peg."}
+{"subtask_index": 1889, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block and moves slightly away."}
+{"subtask_index": 1890, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green block placed on the table."}
+{"subtask_index": 1891, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches the green block and adjusts fingers to form a stable grip."}
+{"subtask_index": 1892, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it towards the bottle set on the wooden base."}
+{"subtask_index": 1893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hollow block with the white bottle with purple cap and fits it onto the bottle."}
+{"subtask_index": 1894, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hollow block after it is fitted onto the bottle."}
+{"subtask_index": 1895, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward and slightly leftward from its initial raised position on the right side, approaching the green hexagonal nut on the black table in front of the wooden base while remaining empty."}
+{"subtask_index": 1896, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut, closing its fingers and making minor positional adjustments to establish a grip on the nut."}
+{"subtask_index": 1897, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until the block is fully separated from the table surface."}
+{"subtask_index": 1898, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the wooden peg board, positioning the block directly above an empty purple peg."}
+{"subtask_index": 1899, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, then lowers the block vertically to slide it down the peg until the block rests stably on the wooden base surface."}
+{"subtask_index": 1900, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, starting to move away from the assembled block."}
+{"subtask_index": 1901, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from the area of the wooden peg base toward the loose white hexagonal block resting on the black table surface, fingers held in an open position as it approaches the target block."}
+{"subtask_index": 1902, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the black table surface, making small continuous adjustments to finger position and contact points to form a stable grip, with the block remaining in contact with the table surface throughout."}
+{"subtask_index": 1903, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden rack."}
+{"subtask_index": 1904, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut slowly to slide it down the rod, fitting it into the assembly on the green base."}
+{"subtask_index": 1905, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without obvious movement, keeping it stable on the green base."}
+{"subtask_index": 1906, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: place_release: Right hand positions the grasped green-and-white cylindrical block onto the purple peg of the wooden assembly base, releasing grip once the block is fully supported by the peg."}
+{"subtask_index": 1907, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front-left white hexagonal nut on the black table surface, approaching the nut without contact."}
+{"subtask_index": 1908, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}
+{"subtask_index": 1909, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the gripped white hexagonal nut vertically upwards, raising it completely off the black table surface."}
+{"subtask_index": 1910, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the leftmost purple peg on the wooden assembly base, positioning the nut directly above the target peg."}
+{"subtask_index": 1911, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal nut with the leftmost purple peg, then lowers the nut along the peg to establish the assembly connection."}
+{"subtask_index": 1912, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut resting on the table in front of the wooden assembly base."}
+{"subtask_index": 1913, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small grip adjustments to establish stable contact with the nut."}
+{"subtask_index": 1914, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}
+{"subtask_index": 1915, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand moves the held white hexagonal nut upward and horizontally to position it above the purple vertical peg on the wooden base."}
+{"subtask_index": 1916, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central bore of the white hexagonal nut with the purple peg, making small positional adjustments to fit the nut onto the peg."}
+{"subtask_index": 1917, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block rack toward the front-left green hexagonal nut on the table, remaining empty with fingers slightly extended."}
+{"subtask_index": 1918, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the front-left green hexagonal nut on the table, adjusting and closing fingers to form a grip on the nut."}
+{"subtask_index": 1919, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to position it directly above the purple cylindrical peg on the wooden base."}
+{"subtask_index": 1920, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg, lowers the block and makes small positional adjustments to fit the block onto the peg."}
+{"subtask_index": 1921, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the green hexagonal block with the purple post on the wooden assembly base, fits the block onto the post, opens fingers to release the block."}
+{"subtask_index": 1922, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the loose green hexagonal block placed on the black table surface."}
+{"subtask_index": 1923, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose green hexagonal block on the black table, adjusting finger positions to establish a grip on the block."}
+{"subtask_index": 1924, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward to the position above the purple post on the wooden assembly base."}
+{"subtask_index": 1925, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post on the base and lowers the block to fit onto the post, making slight wrist and finger adjustments to align the parts during assembly."}
+{"subtask_index": 1926, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the matching wooden peg on the wooden base, releases the grip once the block rests stably on the peg."}
+{"subtask_index": 1927, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block placed on the table adjacent to the wooden base."}
+{"subtask_index": 1928, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp, with the block remaining on the table surface."}
+{"subtask_index": 1929, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward toward the purple rod on the wooden hexagonal nut stand."}
+{"subtask_index": 1930, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal nut with the purple rod, slides the nut down the rod to seat it on the rod, opens fingers to release the nut."}
+{"subtask_index": 1931, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod of the wooden block stand, with fingers opening to separate from the block."}
+{"subtask_index": 1932, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the loose white hexagonal block resting on the dark table surface, fingers extended as it approaches the target."}
+{"subtask_index": 1933, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with the loose white hexagonal block on the table, adjusting finger positions and closing fingers to establish a grasp on the block."}
+{"subtask_index": 1934, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upwards from the dark table surface."}
+{"subtask_index": 1935, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upwards and toward the wooden assembly rack, positioning it above the purple vertical rod."}
+{"subtask_index": 1936, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making slight positional adjustments to fit the block onto the rod."}
+{"subtask_index": 1937, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, separating from the block now seated on the purple rod."}
+{"subtask_index": 1938, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: reach: Right hand moves rightward and downward from above the wooden block set toward the green cube placed on the table surface."}
+{"subtask_index": 1939, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube on the table, with the cube remaining in contact with the table surface."}
+{"subtask_index": 1940, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moves it upward and leftward to the area above the wooden bottle rack."}
+{"subtask_index": 1941, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green block, aligns its central hole with the purple-topped bottle below, lowers the block to fit it onto the bottle until the block is stably supported."}
+{"subtask_index": 1942, "subtask": "Left hand: other:finger_adjustment: Left hand stays at the left side of the workspace in an empty state, with fingers performing slight posture adjustments without touching any operational objects. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed on the table in front-left of the wooden peg stand, with fingers held open and making no contact with the target object during movement."}
+{"subtask_index": 1943, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed on the table in front-left of the wooden peg stand, with fingers held open and making no contact with the target object during movement."}
+{"subtask_index": 1944, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand reaches the vicinity of the green hexagonal nut on the table, with fingers closing and adjusting contact positions to form a stable grasp on the nut."}
+{"subtask_index": 1945, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully separated from the table surface."}
+{"subtask_index": 1946, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand moves the suspended green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden rack."}
+{"subtask_index": 1947, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to nest it securely onto the peg."}
+{"subtask_index": 1948, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple peg without observable movement, rotation or finger adjustment."}
+{"subtask_index": 1949, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves forward and downward from the wooden assembly stand toward the front white hexagonal nut on the table surface."}
+{"subtask_index": 1950, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closing fingers and adjusting contact points to form a grip on the nut resting on the table."}
+{"subtask_index": 1951, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal nut on the black table, lifting the nut completely off the table surface."}
+{"subtask_index": 1952, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple vertical rod on the wooden assembly rack, positioning the nut directly above the rod."}
+{"subtask_index": 1953, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position and angle of the white hexagonal nut to align its central hole with the purple vertical rod, nesting the nut onto the rod and making small positional adjustments during assembly."}
+{"subtask_index": 1954, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple peg of the wooden base until the block is stably supported, opening fingers to release contact with the block."}
+{"subtask_index": 1955, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the black table surface, holding fingers in a slightly spread posture."}
+{"subtask_index": 1956, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal block on the table to establish a stable grip."}
+{"subtask_index": 1957, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black work surface, moving it upward to a position directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 1958, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the held white hexagonal nut to align its central hole with the top of the target purple peg."}
+{"subtask_index": 1959, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand lowers the aligned white hexagonal nut down the purple peg until it rests securely on the underlying nut stack on the wooden assembly."}
+{"subtask_index": 1960, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: release: Right hand opens its fingers to release grip on the seated white hexagonal nut on the purple peg."}
+{"subtask_index": 1961, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the white cylindrical piece onto the purple peg of the wooden assembly base, with fingers opening to release the piece once it is supported on the peg."}
+{"subtask_index": 1962, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table surface in front of the assembly base, without contacting the nut."}
+{"subtask_index": 1963, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting contact positions to establish a grip."}
+{"subtask_index": 1964, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}
+{"subtask_index": 1965, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple peg on the wooden base."}
+{"subtask_index": 1966, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut onto the peg."}
+{"subtask_index": 1967, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement."}
+{"subtask_index": 1968, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until it rests stably on the lower white hexagonal nut on the same peg."}
+{"subtask_index": 1969, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal block on the black table surface, with fingers slightly spread as it approaches the target block."}
+{"subtask_index": 1970, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes its thumb and fingers around the green hexagonal block on the table, adjusting grip slightly to form a stable hold on the block which remains resting on the table."}
+{"subtask_index": 1971, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, completely separating the block from the table surface."}
+{"subtask_index": 1972, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and toward the purple vertical rod on the wooden block stand, moving the block to a position directly above the target rod."}
+{"subtask_index": 1973, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the green hexagonal block slightly to align its central hole with the purple rod below, guiding the block onto the rod to establish the nested assembly relationship."}
+{"subtask_index": 1974, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place: Right hand moves the green hexagonal block downward along the purple rod, until the block rests steadily on the white hexagonal block below and is supported by the underlying block."}
+{"subtask_index": 1975, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal block on the dark table surface, with open fingers."}
+{"subtask_index": 1976, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers to securely grasp the white hexagonal block resting on the table surface."}
+{"subtask_index": 1977, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position above the purple vertical post on the wooden block base."}
+{"subtask_index": 1978, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple post, fitting the block onto the post."}
+{"subtask_index": 1979, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple post without any observable movement of the hand or the block."}
+{"subtask_index": 1980, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top peg of the assembly stand to seat the block stably, opening fingers to release contact with the block."}
+{"subtask_index": 1981, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves downward-right toward the loose white hexagonal block on the black table surface, remaining empty with fingers slightly extended as it approaches the target."}
+{"subtask_index": 1982, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, adjusting finger contact positions to form a grasp on the block while the block rests on the table surface."}
+{"subtask_index": 1983, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and left toward the purple rod on the wooden assembly stand."}
+{"subtask_index": 1984, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden assembly stand, lowers the nut and makes slight positional adjustments to fit it onto the rod."}
+{"subtask_index": 1985, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves diagonally downward to the right toward the white hexagonal nut on the black table surface, staying empty and not making contact with the target nut during the movement."}
+{"subtask_index": 1986, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, making small adjustments to finger positions to form a grip on the nut."}
+{"subtask_index": 1987, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves it upward to the position above the purple rod on the wooden block rack."}
+{"subtask_index": 1988, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the rack, lowers the block to fit it securely onto the rod."}
+{"subtask_index": 1989, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 1990, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: reach: Right hand moves diagonally downward and rightward from the position adjacent to the stacked white bottles on the wooden base, approaching the green cubic block on the dark table surface."}
+{"subtask_index": 1991, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: grasp: Right hand makes contact with the side of the green cubic block, with fingers making slight positional adjustments to establish a stable grasp on the block."}
+{"subtask_index": 1992, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it fully off the table surface, and moves it upward and rightward to position directly above the target white bottle on the wooden storage rack."}
+{"subtask_index": 1993, "subtask": "Left hand: idle: Left hand remains empty and completely static at the left side of the workspace, with no contact with any objects being operated. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns its central hole with the top of the target white bottle, lowers the block to nest it securely onto the bottle, and opens fingers to release the block once it is supported by the bottle."}
+{"subtask_index": 1994, "subtask": "Left hand: other:adjust_posture: Left hand makes minor posture adjustments at the left side of the table, with no contact to any operating object. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop in front of the wooden peg holder."}
+{"subtask_index": 1995, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop in front of the wooden peg holder."}
+{"subtask_index": 1996, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block, with fingers adjusting to establish a stable grip."}
+{"subtask_index": 1997, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the target purple rod on the wooden base."}
+{"subtask_index": 1998, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple rod."}
+{"subtask_index": 1999, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple rod to fit it into position."}
+{"subtask_index": 2000, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white ring onto the rod of the wooden base on the black table."}
+{"subtask_index": 2001, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 2002, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 2003, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the target purple rod on the rack."}
+{"subtask_index": 2004, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the top of the target purple rod."}
+{"subtask_index": 2005, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand presses the white hexagonal block down to fit onto the purple rod to complete assembly."}
+{"subtask_index": 2006, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block that is already fitted on the purple rod."}
+{"subtask_index": 2007, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}
+{"subtask_index": 2008, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 2009, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block above the leftmost purple rod on the wooden rack."}
+{"subtask_index": 2010, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by aligning and inserting it downwards."}
+{"subtask_index": 2011, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 2012, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 2013, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden rack."}
+{"subtask_index": 2014, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}
+{"subtask_index": 2015, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white ring placed on the purple rod of the wooden base."}
+{"subtask_index": 2016, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the green square block on the black table surface."}
+{"subtask_index": 2017, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black table surface."}
+{"subtask_index": 2018, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 2019, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and mates it onto the rod."}
+{"subtask_index": 2020, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}
+{"subtask_index": 2021, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white ring on the purple rod."}
+{"subtask_index": 2022, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table."}
+{"subtask_index": 2023, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black table."}
+{"subtask_index": 2024, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}
+{"subtask_index": 2025, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}
+{"subtask_index": 2026, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the block."}
+{"subtask_index": 2027, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hollow cylinder block placed on the table below the wooden rack."}
+{"subtask_index": 2028, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder block on the table."}
+{"subtask_index": 2029, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hollow cylinder block off the table and transports it above the purple vertical post on the wooden rack."}
+{"subtask_index": 2030, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hollow cylinder block with the purple vertical post and fits it onto the post."}
+{"subtask_index": 2031, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hollow cylinder block fitted on the purple post."}
+{"subtask_index": 2032, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}
+{"subtask_index": 2033, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close around the block."}
+{"subtask_index": 2034, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hollow cylinder on the right side of the table without moving."}
+{"subtask_index": 2035, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hollow cylinder towards the rightmost purple pillar on the wooden block."}
+{"subtask_index": 2036, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple pillar and inserts it onto the pillar."}
+{"subtask_index": 2037, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hollow cylinder downwards to fit it stably on the purple pillar."}
+{"subtask_index": 2038, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green cube on the black table surface."}
+{"subtask_index": 2039, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the black table surface, forming a stable grip."}
+{"subtask_index": 2040, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle on the wooden rack."}
+{"subtask_index": 2041, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle on the wooden rack."}
+{"subtask_index": 2042, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the green block fitted on the white bottle and retreats slightly from the rack."}
+{"subtask_index": 2043, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: idle: Right hand stays empty at the right initial position above the table, with no obvious translational movement toward the central objects."}
+{"subtask_index": 2044, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves horizontally left toward the green hexagonal block placed in front of the wooden pegboard, remaining empty while approaching the target."}
+{"subtask_index": 2045, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand contacts the front-left green hexagonal block near the pegboard, fingers closing and making small adjustments to establish a grip on the block."}
+{"subtask_index": 2046, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to position the block's central hole directly above a purple peg on the wooden base."}
+{"subtask_index": 2047, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand moves the grasped green hexagonal block downward along the purple peg, placing it onto the top surface of the existing white hexagonal block on the peg until it rests stably."}
+{"subtask_index": 2048, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden component rack toward the white hexagonal nut on the black table surface, approaching the target nut without making contact."}
+{"subtask_index": 2049, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, with slight finger adjustments to form a grip on the nut."}
+{"subtask_index": 2050, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple rod on the wooden assembly rack."}
+{"subtask_index": 2051, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and makes small positional adjustments to fit the nut onto the rod for assembly."}
+{"subtask_index": 2052, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place_release: Right hand positions the green hexagonal block onto the purple peg of the wooden stand and releases its grip on the block."}
+{"subtask_index": 2053, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward through the air toward the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 2054, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to establish a firm grip."}
+{"subtask_index": 2055, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table surface, then moves it upward and leftward to position it directly above the purple vertical rod on the wooden block rack."}
+{"subtask_index": 2056, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, then moves the nut downward to fit the hole onto the top of the rod to establish assembly alignment."}
+{"subtask_index": 2057, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple vertical rod until the nut rests steadily on the supporting green block below, maintaining grip on the nut throughout the movement."}
+{"subtask_index": 2058, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach_grasp: Right hand moves downward from the position near the wooden block stand toward the hexagonal nut on the table in front of the stand, fingers stay slightly open during approach, close to establish initial contact with the target nut."}
+{"subtask_index": 2059, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the contacted hexagonal nut stably on the table surface, with no observable movement of the hand, fingers or the target nut."}
+{"subtask_index": 2060, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut resting on the black table to form a stable grip."}
+{"subtask_index": 2061, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple peg on the wooden base."}
+{"subtask_index": 2062, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit the nut onto the peg."}
+{"subtask_index": 2063, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement."}
+{"subtask_index": 2064, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block seated on the purple peg of the assembly stand."}
+{"subtask_index": 2065, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block placed on the black table surface."}
+{"subtask_index": 2066, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}
+{"subtask_index": 2067, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward toward the purple rod fixed on the wooden assembly base."}
+{"subtask_index": 2068, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit onto the rod until it rests on the white block below."}
+{"subtask_index": 2069, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple rod without any observable movement of the hand or the block."}
+{"subtask_index": 2070, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block positioned on the purple peg of the wooden assembly stand."}
+{"subtask_index": 2071, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut placed on the dark table surface."}
+{"subtask_index": 2072, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the dark table surface to establish a grip."}
+{"subtask_index": 2073, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift: Right hand holds the white hexagonal nut and moves upward, lifting the nut completely off the black table surface."}
+{"subtask_index": 2074, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving toward the purple rod on the wooden block assembly until the nut is positioned directly above the rod."}
+{"subtask_index": 2075, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand holds the white hexagonal nut, aligns the nut's central hole with the purple rod, and moves downward to fit the nut onto the purple rod."}
+{"subtask_index": 2076, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement of the hand or the nut."}
+{"subtask_index": 2077, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves empty from above the wooden block set downwards and rightwards to approach the nearest white hexagonal nut on the table."}
+{"subtask_index": 2078, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand closes fingers around the nearest white hexagonal nut on the table, making slight finger adjustments to establish a secure grip."}
+{"subtask_index": 2079, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward to completely separate it from the dark table surface."}
+{"subtask_index": 2080, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: transport: Right hand carries the grasped white hexagonal block, moving it horizontally toward the purple rod on the wooden block stand."}
+{"subtask_index": 2081, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, lowering the block to fit it securely onto the rod over the existing block on the stand."}
+{"subtask_index": 2082, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, fully separating the hand from the block."}
+{"subtask_index": 2083, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves downward from the upper area near the purple cylinder to approach the white hexagonal nut on the black table surface."}
+{"subtask_index": 2084, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand flexes fingers to close around the white hexagonal nut, adjusting finger contact positions to establish a stable grip."}
+{"subtask_index": 2085, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface near the green block without moving."}
+{"subtask_index": 2086, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position above the empty purple peg on the wooden block rack."}
+{"subtask_index": 2087, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg on the wooden rack."}
+{"subtask_index": 2088, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand lowers the white hexagonal block down onto the purple peg until the block is supported by the peg."}
+{"subtask_index": 2089, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand releases the purple-topped cylinder on the wooden block holder, with fingers opening to separate from the cylinder surface."}
+{"subtask_index": 2090, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: reach: Right hand moves down and right toward the small green block on the table, staying empty while approaching the target block."}
+{"subtask_index": 2091, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: grasp: Right hand adjusts finger positions around the small green block on the table, closing fingers to contact the block and prepare a stable grip."}
+{"subtask_index": 2092, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, moves it upward and left toward the wooden bottle rack."}
+{"subtask_index": 2093, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: place: Right hand lowers the green block onto the top of the front-right bottle on the rack, adjusts the block's position until it is stably supported by the bottle cap."}
+{"subtask_index": 2094, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table throughout the segment, with no obvious movement toward any operational objects. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which stays seated on the bottle cap."}
+{"subtask_index": 2095, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green cubic block on the left front side of the wooden pegboard."}
+{"subtask_index": 2096, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table surface."}
+{"subtask_index": 2097, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the black table surface without moving."}
+{"subtask_index": 2098, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to form a grip."}
+{"subtask_index": 2099, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the area above the leftmost vertical post of the peg assembly set."}
+{"subtask_index": 2100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the green hexagonal block and mates it onto the leftmost vertical post of the peg assembly set."}
+{"subtask_index": 2101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight grip adjustments on the green hexagonal block fitted on the leftmost post, with fingers moving subtly to reposition contact points."}
+{"subtask_index": 2102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and moving away from the block surface."}
+{"subtask_index": 2103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}
+{"subtask_index": 2104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}
+{"subtask_index": 2105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the green base, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the supporting surface and transports it to the top of the leftmost purple pillar."}
+{"subtask_index": 2107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the leftmost purple pillar by aligning and fitting it onto the pillar."}
+{"subtask_index": 2108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal object down along the leftmost purple pillar to apply downward pressure."}
+{"subtask_index": 2109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the peg board to approach the white hexagonal piece on the table."}
+{"subtask_index": 2110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, with slight grip adjustment."}
+{"subtask_index": 2111, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal piece on the table slightly to adjust its orientation, with the piece staying on the table surface."}
+{"subtask_index": 2112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}
+{"subtask_index": 2113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the test tube rack."}
+{"subtask_index": 2114, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost post of the test tube rack by aligning and lowering it onto the post."}
+{"subtask_index": 2115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost post of the test tube rack without moving."}
+{"subtask_index": 2116, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple vertical rod, with fingers opening."}
+{"subtask_index": 2117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the left side of the table."}
+{"subtask_index": 2118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the left side of the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 2120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and lowers it onto the peg to complete assembly."}
+{"subtask_index": 2121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece fitted on the purple peg, with fingers opening and separating from the piece."}
+{"subtask_index": 2122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and toward the green hexagonal piece on the black table surface, approaching the target."}
+{"subtask_index": 2123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for and grasps the green hexagonal block on the black table surface."}
+{"subtask_index": 2124, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward from the black table surface."}
+{"subtask_index": 2125, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the purple peg on the wooden base."}
+{"subtask_index": 2126, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning its central hole with the peg and inserting it onto the peg."}
+{"subtask_index": 2127, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block downward along the purple peg until it rests on the supporting white piece below."}
+{"subtask_index": 2128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden base, with fingers opening."}
+{"subtask_index": 2129, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower area of the black table, keeping empty."}
+{"subtask_index": 2130, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower black table, with fingers closing around the block."}
+{"subtask_index": 2131, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden rack and releases the block."}
+{"subtask_index": 2132, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the upper white hexagonal piece on the black table, not yet contacting the piece."}
+{"subtask_index": 2133, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal piece on the table, with slight grip adjustments while the piece remains on the table surface."}
+{"subtask_index": 2134, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 2135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple vertical rod and lowers it to mate onto the top of the white cylinder below the rod."}
+{"subtask_index": 2136, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple rod without any movement."}
+{"subtask_index": 2137, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to adjust the grip."}
+{"subtask_index": 2138, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}
+{"subtask_index": 2139, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table while transporting it toward the wooden rack with cylindrical posts."}
+{"subtask_index": 2140, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost post of the wooden rack."}
+{"subtask_index": 2141, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost post of the wooden rack without moving."}
+{"subtask_index": 2142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the purple-capped white bottle on the wooden tray."}
+{"subtask_index": 2143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches for the green cubic object on the black table surface."}
+{"subtask_index": 2144, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it towards the rightmost white bottle on the wooden rack."}
+{"subtask_index": 2146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the rightmost white bottle and fits it onto the bottle."}
+{"subtask_index": 2147, "subtask": "Left hand: other:adjust_posture: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block below the left side of the wooden base."}
+{"subtask_index": 2148, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block below the left side of the wooden base."}
+{"subtask_index": 2149, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 2150, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the black table surface and transports it above the purple peg on the wooden base."}
+{"subtask_index": 2151, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base by lowering it vertically."}
+{"subtask_index": 2152, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward from the assembly rack to approach the white hexagonal block on the table."}
+{"subtask_index": 2153, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to establish stable grasp."}
+{"subtask_index": 2154, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 2155, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal nut placed on the black tabletop."}
+{"subtask_index": 2156, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and moves it towards the purple rod on the wooden rack."}
+{"subtask_index": 2157, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and inserts it downwards onto the rod to complete the assembly."}
+{"subtask_index": 2158, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the green base."}
+{"subtask_index": 2159, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to establish grasp on the white hexagonal block on the black table surface."}
+{"subtask_index": 2160, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 2161, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the topmost purple rod of the wooden rack, adjusting to align the rod with the hole of the object."}
+{"subtask_index": 2162, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the purple rod without moving."}
+{"subtask_index": 2163, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical part onto the purple rod on the wooden base."}
+{"subtask_index": 2164, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal part on the black table."}
+{"subtask_index": 2165, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal part on the black table."}
+{"subtask_index": 2166, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple rod on the wooden base."}
+{"subtask_index": 2167, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 2168, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}
+{"subtask_index": 2169, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the black table."}
+{"subtask_index": 2170, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}
+{"subtask_index": 2171, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block and moves it towards the wooden rack with white cylinders."}
+{"subtask_index": 2172, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the green block to contact the purple post on the wooden rack."}
+{"subtask_index": 2173, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand presses the green block down along the purple post to fit it in place."}
+{"subtask_index": 2174, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}
+{"subtask_index": 2175, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: idle: Right hand stays empty above the white hexagonal ring on the black table without moving."}
+{"subtask_index": 2176, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}
+{"subtask_index": 2177, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden tray."}
+{"subtask_index": 2178, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block down onto the purple rod until it is supported by the rod."}
+{"subtask_index": 2179, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 2180, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod on the wooden base."}
+{"subtask_index": 2181, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal ring on the black table surface."}
+{"subtask_index": 2182, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table surface."}
+{"subtask_index": 2183, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple rod on the wooden base."}
+{"subtask_index": 2184, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 2185, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod by opening fingers."}
+{"subtask_index": 2186, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand retreats slightly away from the purple rod after releasing the block."}
+{"subtask_index": 2187, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches towards the white hexagonal piece placed on the black table surface."}
+{"subtask_index": 2188, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand makes contact with the white hexagonal piece, fingers adjust to form a stable grasp on the object."}
+{"subtask_index": 2189, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}
+{"subtask_index": 2190, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod to attempt assembly."}
+{"subtask_index": 2191, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand adjusts the position and angle of the white hexagonal block above the purple rod."}
+{"subtask_index": 2192, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod again and inserts it onto the rod."}
+{"subtask_index": 2193, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, separating fingers from the block."}
+{"subtask_index": 2194, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down on the purple rod to secure it."}
+{"subtask_index": 2195, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand retreats from the assembly position towards the right side of the table."}
+{"subtask_index": 2196, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers around the green block, adjusting grip to form stable grasp."}
+{"subtask_index": 2197, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the grasped green block up away from the table surface."}
+{"subtask_index": 2198, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the green ring towards the rightmost white bottle on the wooden tray."}
+{"subtask_index": 2199, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green ring onto the rightmost white bottle on the wooden tray."}
+{"subtask_index": 2200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves from its initial right-side position downward and leftward toward the green hexagonal nut on the black table surface, staying empty throughout the movement."}
+{"subtask_index": 2201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal nut on the table, making small finger and wrist movements to establish grip on the nut which remains on the table surface."}
+{"subtask_index": 2202, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand moves vertically upward to lift the grasped green hexagonal block completely off the dark table surface."}
+{"subtask_index": 2203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the wooden pegboard to position it directly above the target purple peg."}
+{"subtask_index": 2204, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand lowers the green hexagonal block downward along the purple peg until the block rests securely on the wooden base of the pegboard."}
+{"subtask_index": 2205, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward from the wooden block assembly base toward the white hexagonal nut placed on the table surface in front of the base, without touching the target nut during the movement."}
+{"subtask_index": 2206, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to establish a stable grasp, with the nut remaining supported by the table surface throughout the process."}
+{"subtask_index": 2207, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upwards until it fully leaves the black table surface."}
+{"subtask_index": 2208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the wooden peg assembly, moving it to a position directly above the target green base."}
+{"subtask_index": 2209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal nut to align its central hole with the purple post on the target green base, lowering the nut to fit it securely onto the post."}
+{"subtask_index": 2210, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the white hexagonal sleeve, moves downward to set it onto the purple peg on the wooden base, releasing the grip as the sleeve rests stably on the peg."}
+{"subtask_index": 2211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 2212, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger positions to establish a grip on the nut."}
+{"subtask_index": 2213, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position above the target purple vertical peg on the wooden assembly base."}
+{"subtask_index": 2214, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowers the nut to fit it onto the peg, and makes small positional adjustments to properly seat the nut on the assembly base."}
+{"subtask_index": 2215, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand holds the white hexagonal block, moves downward to set it onto the wooden base peg until the block is stably supported on the base."}
+{"subtask_index": 2216, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward toward the nearest white hexagonal block on the table surface, approaching the target without establishing a grip."}
+{"subtask_index": 2217, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a grip on the block which remains on the table surface."}
+{"subtask_index": 2218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it completely off the black table surface and moves it upward to the position above the purple post on the wooden assembly base."}
+{"subtask_index": 2219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand holds the white hexagonal nut, aligns its central hole with the purple post on the wooden base, and lowers the nut to fit onto the post with slight grip adjustments to seat it properly."}
+{"subtask_index": 2220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base until the nut is stably supported, with fingers opening to release the nut."}
+{"subtask_index": 2221, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base, approaching the front green hexagonal nut on the black table surface, without establishing stable contact or grasp with the nut across the segment."}
+{"subtask_index": 2222, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block placed on the black table surface."}
+{"subtask_index": 2223, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, transporting it upward to the position above the purple rod on the wooden assembly base."}
+{"subtask_index": 2224, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align with the purple rod, lowering the block to fit onto the rod to complete the assembly."}
+{"subtask_index": 2225, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: idle: Right hand remains stationary above the wooden assembly base, with fingers lightly touching the green block on the base, no active grip on any object, and no visible movement."}
+{"subtask_index": 2226, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface, with fingers slightly open."}
+{"subtask_index": 2227, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand positions fingers around the white hexagonal block on the table, closing fingers and making small adjustments to establish a grip on the block."}
+{"subtask_index": 2228, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to the position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 2229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly base, moving the nut downward to fit and seat onto the rod."}
+{"subtask_index": 2230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty from above the right side of the stacked block set toward the white hexagonal nut placed on the table adjacent to the wooden block base."}
+{"subtask_index": 2231, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the table and closes fingers to secure a stable grasp on the nut, which remains resting on the table surface."}
+{"subtask_index": 2232, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, then moves it upward and toward the left to position the nut directly above the purple vertical post on the block base."}
+{"subtask_index": 2233, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical post and lowers the nut to fit it onto the post."}
+{"subtask_index": 2234, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place_release: Right hand holds the light purple cylindrical block, moves it downward to insert into the corresponding hole on the wooden block base, opens fingers to release the block stably secured in the hole."}
+{"subtask_index": 2235, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface, approaching the target without making contact."}
+{"subtask_index": 2236, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a stable grip on the block."}
+{"subtask_index": 2237, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface, with no observable movement of the hand or the block."}
+{"subtask_index": 2238, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to position it above the purple post on the wooden block stand."}
+{"subtask_index": 2239, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple post on the wooden stand, makes small positional adjustments to fit the block onto the post, and opens its fingers to release the seated block."}
+{"subtask_index": 2240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: reach: Right hand moves downward and rightward from the area adjacent to the stacked white bottle set, with fingers open, approaching the green cube placed on the table without making contact."}
+{"subtask_index": 2241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: grasp: Right hand makes contact with the green cube on the table, fingers gradually close around the cube with minor positional adjustments to form a grip, while the cube stays resting on the table surface."}
+{"subtask_index": 2242, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: lift: Right hand holds the green block placed on the black table surface and lifts it upward until the block is fully separated from the table."}
+{"subtask_index": 2243, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: transport: Right hand carries the lifted green block and moves it horizontally toward the purple cylindrical post on the wooden assembly rack."}
+{"subtask_index": 2244, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the green block to align its central hole with the top of the purple cylindrical post, guiding the block to fit onto the post."}
+{"subtask_index": 2245, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without significant displacement. | Right hand: place: Right hand moves the green block downward along the purple post until the block rests stably on the rack, supported by the post structure."}
+{"subtask_index": 2246, "subtask": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture at the left side of the table, remaining empty and without contact to any object. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal part in front of the wooden base, with fingers open and empty."}
+{"subtask_index": 2247, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal part in front of the wooden base, with fingers open and empty."}
+{"subtask_index": 2248, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal part on the table, with slight finger adjustments to stabilize the grip, the part remains on the table surface."}
+{"subtask_index": 2249, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal part upward until it completely leaves the table surface."}
+{"subtask_index": 2250, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green hexagonal part with the leftmost purple peg on the wooden base, and inserts the part downward onto the peg to complete the assembly fit."}
+{"subtask_index": 2251, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the pegboard, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2252, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and rightward to above the leftmost peg of the pegboard."}
+{"subtask_index": 2253, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and moves it downward to fit the block onto the peg until it touches the base."}
+{"subtask_index": 2254, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to ensure it is fully seated on the base."}
+{"subtask_index": 2255, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the pegboard without moving."}
+{"subtask_index": 2256, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the block on the pegboard, with fingers gradually opening."}
+{"subtask_index": 2257, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table, with fingers open."}
+{"subtask_index": 2258, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 2259, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 2260, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2261, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it above the leftmost front purple post of the test tube rack."}
+{"subtask_index": 2262, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost front purple post of the test tube rack, aligning the central hole and lowering it fully onto the post."}
+{"subtask_index": 2263, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal piece on the purple post without moving."}
+{"subtask_index": 2264, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening and separating from the piece."}
+{"subtask_index": 2265, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden rack and releases its grip."}
+{"subtask_index": 2266, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 2267, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}
+{"subtask_index": 2268, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 2269, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it towards the wooden rack with pegs."}
+{"subtask_index": 2270, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand fits the white hexagonal block onto the leftmost peg of the wooden rack to complete assembly."}
+{"subtask_index": 2271, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and detaching from the block."}
+{"subtask_index": 2272, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: idle: Right hand stays empty above the wooden rack without moving."}
+{"subtask_index": 2273, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the white hexagonal object on the black table."}
+{"subtask_index": 2274, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2275, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the middle purple peg."}
+{"subtask_index": 2276, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the middle purple peg and slides the block down the peg until it reaches the wooden base."}
+{"subtask_index": 2277, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}
+{"subtask_index": 2278, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the table below the wooden base."}
+{"subtask_index": 2279, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2280, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it toward the wooden peg rack."}
+{"subtask_index": 2281, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the corresponding peg of the wooden rack by aligning and lowering it."}
+{"subtask_index": 2282, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}
+{"subtask_index": 2283, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the purple rod and green block on the wooden pegboard, with fingers opening gradually."}
+{"subtask_index": 2284, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}
+{"subtask_index": 2285, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface with fingers closing."}
+{"subtask_index": 2286, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}
+{"subtask_index": 2287, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow object on the green block at the right side of the table, adjusting fingers to stabilize the grip."}
+{"subtask_index": 2288, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the supporting surface and transports it upward and leftward toward the wooden peg rack."}
+{"subtask_index": 2289, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal object with the purple peg on the wooden rack and inserts it onto the peg."}
+{"subtask_index": 2290, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal object down along the purple peg to fit it firmly into position."}
+{"subtask_index": 2291, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical part on the purple vertical rod, with fingers opening and separating from the part."}
+{"subtask_index": 2292, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface with empty hand."}
+{"subtask_index": 2293, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting contact position to form a stable grip."}
+{"subtask_index": 2294, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}
+{"subtask_index": 2295, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base."}
+{"subtask_index": 2296, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 2297, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand retreats from the purple rod area to the lower right side of the wooden base."}
+{"subtask_index": 2298, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 2299, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface."}
+{"subtask_index": 2300, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hollow block on the right side of the table without moving."}
+{"subtask_index": 2301, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple rod on the wooden tray."}
+{"subtask_index": 2302, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hollow block with the purple rod by aligning and inserting it down onto the rod."}
+{"subtask_index": 2303, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hollow block, with fingers opening and separating from the block."}
+{"subtask_index": 2304, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the purple top of the white bottle at the front right position of the wooden rack."}
+{"subtask_index": 2305, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, without touching the block."}
+{"subtask_index": 2306, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting around the block."}
+{"subtask_index": 2307, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the green hollow square block upward until it completely leaves the table surface."}
+{"subtask_index": 2308, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the green hollow square block and moves left-upward to the position above the rightmost pillar of the white rack."}
+{"subtask_index": 2309, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hollow square block with the rightmost pillar of the white rack and fits it down onto the pillar to form an assembly relationship."}
+{"subtask_index": 2310, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: press: Right hand presses the green hollow square block downward along the pillar to adjust and compact its position on the pillar."}
+{"subtask_index": 2311, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the green hollow square block, separating from the block."}
+{"subtask_index": 2312, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table without any observable movement. | Right hand: retreat: Right hand moves rightward as an empty hand, retreating from the operation position near the white rack."}
+{"subtask_index": 2313, "subtask": "Left hand: other:adjust_posture: Left hand adjusts its posture slightly at the left side of the operation area. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop in front of the wooden rack."}
+{"subtask_index": 2314, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black tabletop in front of the wooden rack."}
+{"subtask_index": 2315, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand approaches the green cube, fingers open and adjust to make contact with the green cube to form a stable grip."}
+{"subtask_index": 2316, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green cube on the black tabletop without moving."}
+{"subtask_index": 2317, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}
+{"subtask_index": 2318, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block to above the purple post on the wooden rack."}
+{"subtask_index": 2319, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple post and fits it onto the post."}
+{"subtask_index": 2320, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the purple post without moving."}
+{"subtask_index": 2321, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block, fingers open and separate from the block."}
+{"subtask_index": 2322, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}
+{"subtask_index": 2323, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 2324, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes and adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}
+{"subtask_index": 2325, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand holds the white hexagonal workpiece and moves it to the position above the leftmost purple rod on the green base."}
+{"subtask_index": 2326, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal workpiece with the leftmost purple rod and fits it onto the rod."}
+{"subtask_index": 2327, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal workpiece down along the leftmost purple rod to the bottom of the rod."}
+{"subtask_index": 2328, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal workpiece."}
+{"subtask_index": 2329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 2330, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 2331, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the leftmost purple rod of the wooden rack."}
+{"subtask_index": 2332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack, adjusting the block to fit onto the rod."}
+{"subtask_index": 2333, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the middle wooden base."}
+{"subtask_index": 2334, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 2335, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 2336, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it fully leaves the support."}
+{"subtask_index": 2337, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}
+{"subtask_index": 2338, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod, then releases the grip on the block."}
+{"subtask_index": 2339, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}
+{"subtask_index": 2340, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}
+{"subtask_index": 2341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form stable grip."}
+{"subtask_index": 2342, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to the position above the purple rod on the wooden rack."}
+{"subtask_index": 2343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod by aligning and pressing it down."}
+{"subtask_index": 2344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}
+{"subtask_index": 2345, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green hexagonal block fitted on the purple rod."}
+{"subtask_index": 2346, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black table surface."}
+{"subtask_index": 2347, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal ring on the black table surface."}
+{"subtask_index": 2348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 2349, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}
+{"subtask_index": 2350, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 2351, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves from the wooden base area toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 2352, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to establish stable grasp on the white hexagonal block on the tabletop."}
+{"subtask_index": 2353, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}
+{"subtask_index": 2354, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the target post on the wooden base."}
+{"subtask_index": 2355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target post on the wooden base and inserts it onto the post."}
+{"subtask_index": 2356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the post."}
+{"subtask_index": 2357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block to ensure stable fitting on the post."}
+{"subtask_index": 2358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}
+{"subtask_index": 2359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the rightmost post of the wooden base."}
+{"subtask_index": 2360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table surface."}
+{"subtask_index": 2361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 2362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it towards the purple post on the wooden rack."}
+{"subtask_index": 2363, "subtask": "Left hand: reach: Left hand moves towards the wooden rack on the table. | Right hand: place: Right hand places the white hexagonal ring onto the purple post of the wooden rack."}
+{"subtask_index": 2364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block with purple top upwards from the wooden base."}
+{"subtask_index": 2365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the lower part of the black table."}
+{"subtask_index": 2366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the black table surface."}
+{"subtask_index": 2367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}
+{"subtask_index": 2368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the bottle array on the wooden tray."}
+{"subtask_index": 2369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}
+{"subtask_index": 2370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle with purple cap."}
+{"subtask_index": 2371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block and moves fingers away from the bottle."}
+{"subtask_index": 2372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand, empty with extended fingers, moves downward and forward toward the green hexagonal nut on the table in front of the wooden peg stand."}
+{"subtask_index": 2373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting finger positions and closing fingers to establish a grasp, with the nut remaining on the table surface."}
+{"subtask_index": 2374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the table surface."}
+{"subtask_index": 2375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the top of the target purple post on the wooden base."}
+{"subtask_index": 2376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple post until the block rests stably on the wooden base."}
+{"subtask_index": 2377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, remaining empty and not contacting the block during movement."}
+{"subtask_index": 2378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions and gradually closes fingers around the target white hexagonal block on the table to establish a stable grip, with slight finger movements observed throughout the process."}
+{"subtask_index": 2379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without observable movement of the hand, fingers or the nut."}
+{"subtask_index": 2380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand moves upward while grasping the white hexagonal nut, lifting the nut completely off the table surface."}
+{"subtask_index": 2381, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden rack, positioning the nut directly above a purple cylindrical post on the rack."}
+{"subtask_index": 2382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, moving the nut downward to fit it onto the post."}
+{"subtask_index": 2383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves from the position above the wooden assembly stand downward toward the white hexagonal block placed on the black table surface, staying empty and not touching the target block throughout the movement."}
+{"subtask_index": 2384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, adjusting finger positions and closing fingers around the block to form a stable grasp."}
+{"subtask_index": 2385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}
+{"subtask_index": 2386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, moving it upward to position above the purple peg on the wooden base."}
+{"subtask_index": 2387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, lowering it to fit onto the peg and rest on the green block below."}
+{"subtask_index": 2388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block, moving backward away from the assembled structure."}
+{"subtask_index": 2389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table near the wooden block stand."}
+{"subtask_index": 2390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grasp."}
+{"subtask_index": 2391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the table surface."}
+{"subtask_index": 2392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally to position it directly above the purple post on the wooden stand."}
+{"subtask_index": 2393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers it to fit onto the post, making slight adjustments to ensure proper alignment."}
+{"subtask_index": 2394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement or adjustment."}
+{"subtask_index": 2395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: place_release: Right hand moves the light purple sleeve down along the purple peg until it rests on the white sleeve below, then opens fingers to release the sleeve."}
+{"subtask_index": 2396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block on the black table surface, extending fingers as it approaches the target block."}
+{"subtask_index": 2397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, gradually closing fingers to establish a stable grasp on the block."}
+{"subtask_index": 2398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden base."}
+{"subtask_index": 2399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block stationary directly above the purple peg on the wooden base."}
+{"subtask_index": 2400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand moves the green hexagonal block downward along the purple peg, fitting the block onto the peg to align the assembly."}
+{"subtask_index": 2401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand releases the white cylindrical component on the wooden pegboard, with fingers opening to separate from the component surface."}
+{"subtask_index": 2402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut on the black table surface, approaching the target without making contact."}
+{"subtask_index": 2403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, with fingers closing and adjusting positions to establish a stable grip on the nut."}
+{"subtask_index": 2404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward to the position above a peg on the wooden block stand."}
+{"subtask_index": 2405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal block's orientation slightly, aligns it with the target peg on the wooden block stand, and moves it downward to fit onto the peg."}
+{"subtask_index": 2406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block fitted on the wooden stand peg without any observable movement."}
+{"subtask_index": 2407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release_reach: Right hand opens fingers to release the white hexagonal block on the wooden stand, moves downward and rightward across the table toward the loose white hexagonal block on the table surface."}
+{"subtask_index": 2408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making slight finger adjustments to establish contact with the block."}
+{"subtask_index": 2409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, transports it upward and leftward to position the nut directly above the empty purple vertical rod mounted on the wooden base."}
+{"subtask_index": 2410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, adjusts the nut's orientation and presses it downward to fit the nut onto the rod as part of the block assembly."}
+{"subtask_index": 2411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold_release: Right hand holds the white hexagonal block on the purple post and releases its grasp from the block."}
+{"subtask_index": 2412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 2413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a grasp."}
+{"subtask_index": 2414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal block on the table surface near the green block without moving."}
+{"subtask_index": 2415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the purple post on the stacked block base."}
+{"subtask_index": 2416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and presses it downward to fit the block securely onto the post."}
+{"subtask_index": 2417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block on the purple post."}
+{"subtask_index": 2418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: reach: Right hand moves from the right side of the bottle rack toward the green cube on the lower right table surface, with fingers slightly open during the movement."}
+{"subtask_index": 2419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cube on the table, closing and adjusting fingers to establish a grip on the cube."}
+{"subtask_index": 2420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and moves it upward to the position above the target white bottle on the wooden rack."}
+{"subtask_index": 2421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the top of the target white bottle and fits the block securely onto the bottle."}
+{"subtask_index": 2422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cubic block that is fitted on the white bottle."}
+{"subtask_index": 2423, "subtask": "Left hand: other:adjust_finger_posture: Left hand slightly spreads its fingers while remaining at the left side of the table, with no arm displacement. | Right hand: idle: Right hand remains empty and stationary at the right side of the table."}
+{"subtask_index": 2424, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty and stationary at the right side of the table."}
+{"subtask_index": 2425, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table in front of the wooden peg rack."}
+{"subtask_index": 2426, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, with slight adjustments to stabilize the grip."}
+{"subtask_index": 2427, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without any movement."}
+{"subtask_index": 2428, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}
+{"subtask_index": 2429, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost peg of the wooden base."}
+{"subtask_index": 2430, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it onto the peg with continuous slight downward adjustments."}
+{"subtask_index": 2431, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_release: Right hand mates the white cylindrical sleeve onto the purple peg of the wooden rack and releases the grip."}
+{"subtask_index": 2432, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 2433, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with continuous finger adjustments."}
+{"subtask_index": 2434, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 2435, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to above the leftmost tube of the test tube rack."}
+{"subtask_index": 2436, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost tube of the test tube rack by fitting it down along the tube."}
+{"subtask_index": 2437, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost tube without moving."}
+{"subtask_index": 2438, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers to detach from the block."}
+{"subtask_index": 2439, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the leftmost white hexagonal part on the dark table surface."}
+{"subtask_index": 2440, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal part on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2441, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while moving it to the position above the leftmost purple post of the rack."}
+{"subtask_index": 2442, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post of the rack and lowers it onto the post to complete the fitting assembly."}
+{"subtask_index": 2443, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block on the top of the rightmost purple rod of the wooden base."}
+{"subtask_index": 2444, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the left side of the wooden base."}
+{"subtask_index": 2445, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the left side of the wooden base, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2446, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it to the top of the middle purple peg."}
+{"subtask_index": 2447, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate_place: Right hand aligns and inserts the white hexagonal piece onto the middle purple peg, sliding it down along the peg."}
+{"subtask_index": 2448, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the right purple peg of the wooden base and releases its grip on the block."}
+{"subtask_index": 2449, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 2450, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers around the green hexagonal block on the black table surface to form a stable grasp."}
+{"subtask_index": 2451, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the middle peg of the wooden rack."}
+{"subtask_index": 2452, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg of the wooden rack and inserts it downward onto the peg to complete the nesting assembly."}
+{"subtask_index": 2453, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green hexagonal block nested on the middle peg of the wooden rack without moving."}
+{"subtask_index": 2454, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base, with fingers opening to separate from the piece."}
+{"subtask_index": 2455, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table below the wooden base."}
+{"subtask_index": 2456, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting around the part."}
+{"subtask_index": 2457, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to above the purple rod on the wooden base."}
+{"subtask_index": 2458, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base, making slight adjustments to align and insert the block."}
+{"subtask_index": 2459, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white cylindrical piece on the front-right green base post, with fingers opening from a closed grasp."}
+{"subtask_index": 2460, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves down toward the upper white hexagonal piece on the table surface as an empty hand."}
+{"subtask_index": 2461, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table, with fingers closing around the piece to form a grip."}
+{"subtask_index": 2462, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table surface without moving."}
+{"subtask_index": 2463, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 2464, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 2465, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block downward along the rod until the block rests on the wooden base."}
+{"subtask_index": 2466, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward away from the rod assembly."}
+{"subtask_index": 2467, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 2468, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2469, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the wooden rack with cylindrical objects."}
+{"subtask_index": 2470, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod on the rightmost column of the wooden rack and fits the ring onto the rod."}
+{"subtask_index": 2471, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal ring, with fingers opening and separating from the ring."}
+{"subtask_index": 2472, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: idle: Right hand remains empty next to the wooden rack without moving."}
+{"subtask_index": 2473, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: release: Right hand releases the purple top of the front-right bottle on the wooden base, with fingers opening and separating from the bottle."}
+{"subtask_index": 2474, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface below the wooden base."}
+{"subtask_index": 2475, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers closing around the cube to adjust the grip."}
+{"subtask_index": 2476, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it toward the white bottle assembly at the center of the table."}
+{"subtask_index": 2477, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green cubic block with the top of the rightmost white bottle and fits it onto the bottle."}
+{"subtask_index": 2478, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table without any movement. | Right hand: hold: Right hand holds the green cubic block fitted on the rightmost white bottle without moving."}
+{"subtask_index": 2479, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden peg base."}
+{"subtask_index": 2480, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, with fingers adjusting to form a stable grip on the block."}
+{"subtask_index": 2481, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement."}
+{"subtask_index": 2482, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 2483, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the wooden rack with purple pegs."}
+{"subtask_index": 2484, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the green block onto the purple peg of the wooden rack, adjusting its position to fit."}
+{"subtask_index": 2485, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white capped block from the purple peg on the wooden base."}
+{"subtask_index": 2486, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white capped block downward towards the table surface."}
+{"subtask_index": 2487, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white capped block onto the black table surface and releases it."}
+{"subtask_index": 2488, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}
+{"subtask_index": 2489, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 2490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden rack."}
+{"subtask_index": 2491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, adjusting position to fully fit onto the rod."}
+{"subtask_index": 2492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 2493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the table surface without touching it."}
+{"subtask_index": 2494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 2495, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 2496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod, adjusting position to make it fit properly."}
+{"subtask_index": 2497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block which is now mounted on the purple rod."}
+{"subtask_index": 2498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}
+{"subtask_index": 2499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat_reach: Right hand retreats from the wooden base and reaches toward the white hexagonal block on the table."}
+{"subtask_index": 2500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 2501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 2502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base, adjusting to fit it onto the rod."}
+{"subtask_index": 2503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}
+{"subtask_index": 2504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}
+{"subtask_index": 2505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green block on the table surface."}
+{"subtask_index": 2506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table surface."}
+{"subtask_index": 2507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the pole on the wooden rack."}
+{"subtask_index": 2508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the white pole on the wooden rack and inserts it onto the pole."}
+{"subtask_index": 2509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green block down along the pole to fix it."}
+{"subtask_index": 2510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the green block on the pole without moving."}
+{"subtask_index": 2511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the green block onto the peg on the wooden base until it is supported stably."}
+{"subtask_index": 2512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 2513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}
+{"subtask_index": 2514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 2515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod on the wooden rack."}
+{"subtask_index": 2516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves fingers slightly away."}
+{"subtask_index": 2517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the peg of the wooden base."}
+{"subtask_index": 2518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white ring on the black table surface."}
+{"subtask_index": 2519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black table surface."}
+{"subtask_index": 2520, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block completely off the black tabletop."}
+{"subtask_index": 2521, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block horizontally to the position directly above the purple rod on the wooden base."}
+{"subtask_index": 2522, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, then inserts it down along the rod until it rests on the lower white block on the base."}
+{"subtask_index": 2523, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press_release: Right hand presses the white block onto the purple post on the wooden base and releases the block."}
+{"subtask_index": 2524, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 2525, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 2526, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 2527, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and inserts it onto the rod to complete assembly."}
+{"subtask_index": 2528, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white block, fingers open and separate from the block."}
+{"subtask_index": 2529, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the bottle onto the wooden tray and releases the grip on the bottle."}
+{"subtask_index": 2530, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cube placed on the black table surface."}
+{"subtask_index": 2531, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}
+{"subtask_index": 2532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the position above the rightmost bottle on the wooden rack."}
+{"subtask_index": 2533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle on the wooden rack."}
+{"subtask_index": 2534, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves from its initial upper right position downward toward the green hexagonal block in front-left of the wooden peg stand, with fingers held open."}
+{"subtask_index": 2535, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the black table surface, adjusting finger positions to close around the block to form a grasp."}
+{"subtask_index": 2536, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 2537, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}
+{"subtask_index": 2538, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 2539, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger adjustments to form a grip on the block."}
+{"subtask_index": 2540, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is completely off the black table surface."}
+{"subtask_index": 2541, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to move toward the wooden rack, positioning the nut directly above the leftmost purple post."}
+{"subtask_index": 2542, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand slightly adjusts the position of the white hexagonal nut, aligning the central hole of the nut with the leftmost purple post to fit the post into the hole."}
+{"subtask_index": 2543, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal nut sleeved on the upper part of the purple post without moving."}
+{"subtask_index": 2544, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple post until the nut is stably supported by the green hexagonal block below."}
+{"subtask_index": 2545, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the wooden block assembly toward the white hexagonal nut on the table surface, with fingers held open."}
+{"subtask_index": 2546, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to form a grip."}
+{"subtask_index": 2547, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface, moving it upward to the position above the target purple rod on the wooden assembly base."}
+{"subtask_index": 2548, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, lowering the nut to fit it securely onto the rod."}
+{"subtask_index": 2549, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden base holding bottles and purple posts, approaching the front white hexagonal nut on the black table surface with an open empty hand, not yet contacting the target."}
+{"subtask_index": 2550, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple rod."}
+{"subtask_index": 2551, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand contacts the top of the front white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip, with observable small movements of the fingers and wrist."}
+{"subtask_index": 2552, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple peg on the wooden block rack."}
+{"subtask_index": 2553, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg on the wooden rack, moves the nut downward to fit onto the peg, and makes small positional adjustments during the alignment process."}
+{"subtask_index": 2554, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to place it onto the purple vertical rod on the wooden assembly base, releasing the block once it is stably supported by the base."}
+{"subtask_index": 2555, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block resting on the black table surface, approaching the block without establishing grasping contact."}
+{"subtask_index": 2556, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand fingers close around the green hexagonal block on the table, making slight finger adjustments to form stable contact with the block."}
+{"subtask_index": 2557, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand moves vertically upward with the gripped green hexagonal block, lifting the block completely free of the dark table surface."}
+{"subtask_index": 2558, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally across the workspace toward the purple pegs attached to the light wooden block base."}
+{"subtask_index": 2559, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand makes small positional and rotational adjustments to the green hexagonal block to align its central hole with the target purple peg on the wooden base."}
+{"subtask_index": 2560, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand lowers the aligned green hexagonal block vertically down the purple peg until the block rests securely on the underlying stacked blocks, maintaining a grip on the block."}
+{"subtask_index": 2561, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted on the purple rod of the wooden assembly stand, separating fingers from the block surface."}
+{"subtask_index": 2562, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward empty from the assembly stand area toward the green hexagonal block placed on the black table surface, gradually approaching the target block."}
+{"subtask_index": 2563, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers closing and making fine adjustments to establish a stable grip on the block."}
+{"subtask_index": 2564, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, and carries it upward toward the wooden peg assembly to position it directly above the purple peg."}
+{"subtask_index": 2565, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal block stationary directly above the purple peg on the wooden assembly."}
+{"subtask_index": 2566, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand moves the white hexagonal block downward to align its central hole with the purple peg, fitting the block onto the top of the peg."}
+{"subtask_index": 2567, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place: Right hand slides the white hexagonal block down along the purple peg, lowering it until it rests on the green supporting block on the wooden base."}
+{"subtask_index": 2568, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: place_release: Right hand places the white cylindrical block with green base onto the wooden block base, releasing the grip as fingers open."}
+{"subtask_index": 2569, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves empty toward the white hexagonal block placed on the right side of the dark table surface."}
+{"subtask_index": 2570, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small grip adjustments to secure contact with the block."}
+{"subtask_index": 2571, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal piece off the table surface, moving it upward and left toward the purple vertical rod on the wooden block assembly."}
+{"subtask_index": 2572, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the purple vertical rod, adjusting orientation and vertical position to slide the piece down the rod into assembled position."}
+{"subtask_index": 2573, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal piece resting on the purple rod."}
+{"subtask_index": 2574, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: retreat: Right hand moves slightly upward and rightward away from the wooden block rack while empty, after completing interaction with blocks on the rack."}
+{"subtask_index": 2575, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward and leftward through the air toward the white hexagonal block on the dark gray table surface, fingers held slightly spread."}
+{"subtask_index": 2576, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers around the block, and makes slight adjustments to finger positions to establish a stable grip."}
+{"subtask_index": 2577, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: hold: Right hand holds the white hexagonal block above the right section of the black table surface without moving."}
+{"subtask_index": 2578, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block rack."}
+{"subtask_index": 2579, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the rack, lowering it to fit securely onto the green base inside the slot."}
+{"subtask_index": 2580, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the rack base."}
+{"subtask_index": 2581, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: press: Right hand presses the raised purple top of the front-right white bottle on the wooden rack downward, pushing the top flush with adjacent white bottle caps."}
+{"subtask_index": 2582, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: reach: Right hand moves downward and rightward with open fingers toward the green cube placed on the dark table surface, without contacting the cube."}
+{"subtask_index": 2583, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: grasp: Right hand closes fingers around the green cube on the table to establish a stable grasp on the object."}
+{"subtask_index": 2584, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward, raising the cube slightly off the dark table surface."}
+{"subtask_index": 2585, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the empty slot on the wooden bottle rack."}
+{"subtask_index": 2586, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement of the arm or fingers. | Right hand: mate: Right hand adjusts the green block's position and orientation to align its central hole with the white post below, lowers the block to fit it onto the post to complete the assembly."}
+{"subtask_index": 2587, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the wooden peg board."}
+{"subtask_index": 2588, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface."}
+{"subtask_index": 2589, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}
+{"subtask_index": 2590, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the black table surface, with fingers closing to adjust the grip."}
+{"subtask_index": 2591, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it upward and rightward to the top of the leftmost peg of the wooden rack."}
+{"subtask_index": 2592, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring with the leftmost peg of the wooden rack, moving downward to fit the ring onto the peg."}
+{"subtask_index": 2593, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the leftmost peg of the wooden rack without moving."}
+{"subtask_index": 2594, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening and moving slightly upward."}
+{"subtask_index": 2595, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing."}
+{"subtask_index": 2596, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the black table surface."}
+{"subtask_index": 2597, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut upward and toward the leftmost purple peg on the wooden base."}
+{"subtask_index": 2598, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 2599, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}
+{"subtask_index": 2600, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal nut while retreating upward away from the peg."}
+{"subtask_index": 2601, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the rightmost purple peg of the wooden base, with fingers opening to separate from the ring."}
+{"subtask_index": 2602, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward to approach the white hexagonal piece on the lower left area of the black table."}
+{"subtask_index": 2603, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 2604, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the lower left area of the black table without moving."}
+{"subtask_index": 2605, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the lower area of the black table, with fingers adjusting to form a stable grip while the nut stays on the table."}
+{"subtask_index": 2606, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward to the position above the leftmost top purple peg of the wooden rack."}
+{"subtask_index": 2607, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal nut with the leftmost top purple peg of the wooden rack by moving downward along the peg, and opens fingers to separate from the nut at the end of the segment."}
+{"subtask_index": 2608, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden rack."}
+{"subtask_index": 2609, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table and adjusts the grip."}
+{"subtask_index": 2610, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward to above the middle purple peg of the wooden rack."}
+{"subtask_index": 2611, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it down onto the peg."}
+{"subtask_index": 2612, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}
+{"subtask_index": 2613, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}
+{"subtask_index": 2614, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward away from the white hexagonal block on the peg."}
+{"subtask_index": 2615, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden rack to approach the green hexagonal block on the left side of the table."}
+{"subtask_index": 2616, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 2617, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the purple peg of the wooden rack."}
+{"subtask_index": 2618, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden rack by aligning and inserting it down onto the peg with slight adjustments."}
+{"subtask_index": 2619, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}
+{"subtask_index": 2620, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the peg of the wooden rack and releases it."}
+{"subtask_index": 2621, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block from the table and transports it toward the wooden rack in the middle of the table."}
+{"subtask_index": 2622, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated hexagonal block with the green peg on the wooden rack and fits it onto the peg."}
+{"subtask_index": 2623, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white perforated hexagonal block on the green peg, with fingers opening to separate from the block."}
+{"subtask_index": 2624, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}
+{"subtask_index": 2625, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack, with fingers opening from closed state."}
+{"subtask_index": 2626, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface with empty hand."}
+{"subtask_index": 2627, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 2628, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 2629, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece with the purple rod on the wooden base before releasing it, causing the piece to fall onto the right side of the table."}
+{"subtask_index": 2630, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal piece that fell on the right side of the table."}
+{"subtask_index": 2631, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the right side of the table."}
+{"subtask_index": 2632, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it to the lower left area near the wooden base."}
+{"subtask_index": 2633, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal piece onto the table surface near the lower left of the wooden base."}
+{"subtask_index": 2634, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the table."}
+{"subtask_index": 2635, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal piece near the green block on the table."}
+{"subtask_index": 2636, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece near the green block on the table."}
+{"subtask_index": 2637, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod on the wooden base, adjusting its position to fit stably."}
+{"subtask_index": 2638, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece fitted on the purple rod."}
+{"subtask_index": 2639, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the wooden rack area."}
+{"subtask_index": 2640, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 2641, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white square block from the black table surface."}
+{"subtask_index": 2642, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white square block upward and leftward to the position above the rightmost pillar of the wooden rack."}
+{"subtask_index": 2643, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white square block with the rightmost pillar of the wooden rack by fitting the pillar into the block."}
+{"subtask_index": 2644, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white square block on the rightmost pillar of the wooden rack without moving."}
+{"subtask_index": 2645, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white square block on the rightmost pillar, with fingers opening and separating from the block."}
+{"subtask_index": 2646, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:lift_plunger: Right hand lifts the purple plunger on the white cylinder at the rightmost bottom of the wooden rack."}
+{"subtask_index": 2647, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}
+{"subtask_index": 2648, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2649, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the bottle set in the middle of the frame."}
+{"subtask_index": 2650, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white bottle and fits it onto the bottle."}
+{"subtask_index": 2651, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the rightmost white bottle without moving."}
+{"subtask_index": 2652, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black tabletop."}
+{"subtask_index": 2653, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}
+{"subtask_index": 2654, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}
+{"subtask_index": 2655, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block above the leftmost purple rod of the wooden base."}
+{"subtask_index": 2656, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod by aligning and inserting the rod through the block's hole."}
+{"subtask_index": 2657, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reorient: Right hand rotates the wooden base with vertical posts about 90 degrees downward to lay it flat on the table."}
+{"subtask_index": 2658, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the black table."}
+{"subtask_index": 2659, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white hexagonal hollow block."}
+{"subtask_index": 2660, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the leftmost purple rod on the test tube rack."}
+{"subtask_index": 2661, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the test tube rack."}
+{"subtask_index": 2662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves downward away from the wooden assembly base to the area above the white hexagonal blocks, knocking over the assembled parts during movement."}
+{"subtask_index": 2663, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: idle: Right hand remains empty above the white hexagonal blocks on the table without moving."}
+{"subtask_index": 2664, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 2665, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the target purple rod on the wooden rack."}
+{"subtask_index": 2666, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it down along the rod until it is fully seated."}
+{"subtask_index": 2667, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple rod of the wooden base and releases the object."}
+{"subtask_index": 2668, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal object placed on the black table surface."}
+{"subtask_index": 2669, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the table near the wooden base."}
+{"subtask_index": 2670, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and moves it above the purple post on the wooden base."}
+{"subtask_index": 2671, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the white hexagonal cylinder onto the purple post and releases its grip on the cylinder."}
+{"subtask_index": 2672, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}
+{"subtask_index": 2673, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface."}
+{"subtask_index": 2674, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form stable grip."}
+{"subtask_index": 2675, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green block toward the purple rod on the wooden base."}
+{"subtask_index": 2676, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and inserting it down along the rod."}
+{"subtask_index": 2677, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 2678, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 2679, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object from the table and transports it towards the wooden base with pegs."}
+{"subtask_index": 2680, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal object with the target peg on the wooden base."}
+{"subtask_index": 2681, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white hollow hexagonal object onto the target peg and releases the object."}
+{"subtask_index": 2682, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down-right towards the white hexagonal block placed on the table next to the wooden base."}
+{"subtask_index": 2683, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 2684, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}
+{"subtask_index": 2685, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 2686, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block down along the purple rod until it touches the wooden base."}
+{"subtask_index": 2687, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down firmly to secure it at the bottom of the purple rod."}
+{"subtask_index": 2688, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand inserts the purple cylinder into the matching hole on the wooden base to complete assembly."}
+{"subtask_index": 2689, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}
+{"subtask_index": 2690, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}
+{"subtask_index": 2691, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it towards the purple rod on the wooden tray."}
+{"subtask_index": 2692, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden tray, fitting the ring over the rod."}
+{"subtask_index": 2693, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white ring, fingers open to separate from the ring."}
+{"subtask_index": 2694, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}
+{"subtask_index": 2695, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and moves it towards the white post on the wooden tray."}
+{"subtask_index": 2696, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand fits the green ring onto the target white post on the wooden tray and releases its grip on the ring."}
+{"subtask_index": 2697, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal nut adjacent to the wooden block, with fingers extended in an open posture, not yet touching the target object."}
+{"subtask_index": 2698, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the black table surface, closes fingers around the object, and makes small positional adjustments of the fingers and wrist to form a secure grip."}
+{"subtask_index": 2699, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it through the air to position it directly above the target purple post on the wooden peg base."}
+{"subtask_index": 2700, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the purple post, and fits the block onto the post."}
+{"subtask_index": 2701, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any noticeable movement of the hand or the block."}
+{"subtask_index": 2702, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table in front of the wooden assembly block."}
+{"subtask_index": 2703, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers and adjusts grip to securely hold the white hexagonal nut on the table."}
+{"subtask_index": 2704, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the table surface."}
+{"subtask_index": 2705, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and leftward to position it above the target purple peg on the wooden assembly block."}
+{"subtask_index": 2706, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit onto the peg."}
+{"subtask_index": 2707, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}
+{"subtask_index": 2708, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: press_release: Right hand presses the white cylindrical cap onto the purple peg of the wooden block stand, fingers opening to release the fully seated cap."}
+{"subtask_index": 2709, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward with an open empty hand to approach the green hexagonal block resting on the black table surface."}
+{"subtask_index": 2710, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a grip on the green hexagonal block on the table surface."}
+{"subtask_index": 2711, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and toward the target purple peg on the wooden assembly base."}
+{"subtask_index": 2712, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowering the block to fit it onto the peg."}
+{"subtask_index": 2713, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without noticeable movement of the hand or the block."}
+{"subtask_index": 2714, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object positioned on the wooden assembly base."}
+{"subtask_index": 2715, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand, with fingers held open, moves downward from the assembly base toward the white hexagonal block resting on the table adjacent to the base."}
+{"subtask_index": 2716, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block which remains on the table surface."}
+{"subtask_index": 2717, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and transports it upward to position directly above the purple vertical peg on the wooden assembly base."}
+{"subtask_index": 2718, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand makes small rotational and positional adjustments to the white hexagonal nut to align its central hole with the purple vertical peg, and lowers the nut slightly to engage it with the peg."}
+{"subtask_index": 2719, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod of the wooden stand, opens fingers to separate from the placed block."}
+{"subtask_index": 2720, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward with an empty hand to approach the front green hexagonal block resting on the black table surface."}
+{"subtask_index": 2721, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers to make contact with the front green hexagonal block, adjusting finger position to form a grasp."}
+{"subtask_index": 2722, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to a position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 2723, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the top of the purple rod, until the rod enters the block's hole."}
+{"subtask_index": 2724, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple rod until the block is supported by the lower green block on the assembly base, opening its fingers to release contact with the block."}
+{"subtask_index": 2725, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate_release: Right hand fits the white cylindrical block onto the corresponding purple peg on the wooden base and releases the block."}
+{"subtask_index": 2726, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 2727, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, adjusting finger positions to form a stable grip."}
+{"subtask_index": 2728, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without any visible movement."}
+{"subtask_index": 2729, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift: Right hand moves upward while holding the white hexagonal block, lifting the block completely off the black table surface."}
+{"subtask_index": 2730, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden block assembly stand in the center of the table."}
+{"subtask_index": 2731, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical peg on the wooden stand, moving the block downward to fit it onto the peg."}
+{"subtask_index": 2732, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: place_release: Right hand places the white cylindrical block onto the top right position of the block stack, opens fingers to release the block and separate from its surface."}
+{"subtask_index": 2733, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal block on the table near the block stack, without touching the target block."}
+{"subtask_index": 2734, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block and closes fingers to establish a grasp around the block."}
+{"subtask_index": 2735, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it to the position directly above the purple rod on the wooden block stand."}
+{"subtask_index": 2736, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusts the block vertically downward and makes small wrist and finger movements to nest the block securely onto the rod."}
+{"subtask_index": 2737, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers gradually to release the nested white hexagonal block, separating the fingers from the block surface."}
+{"subtask_index": 2738, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: hold: Right hand holds the white cylindrical block with a purple ring above the purple rod on the wooden base, keeping still."}
+{"subtask_index": 2739, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without contacting any operational objects, maintaining a stable posture with no obvious active movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block with a purple ring, separating from the block which falls onto the wooden base."}
+{"subtask_index": 2740, "subtask": "Left hand: return_home: Left hand moves leftward back to the home position in front of the robot, empty. | Right hand: release: Right hand opens fingers to release the white cylindrical block with a purple ring, separating from the block which falls onto the wooden base."}
+{"subtask_index": 2741, "subtask": "Left hand: return_home: Left hand moves leftward back to the home position in front of the robot, empty. | Right hand: reach: Right hand moves downward-right toward the white hexagonal holed block on the black table surface, empty, approaching the target block."}
+{"subtask_index": 2742, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: reach: Right hand moves downward-right toward the white hexagonal holed block on the black table surface, empty, approaching the target block."}
+{"subtask_index": 2743, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal holed block on the table, adjusting finger positions to form a grasp."}
+{"subtask_index": 2744, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward off the black table surface."}
+{"subtask_index": 2745, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward through the air to position it directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 2746, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the white hexagonal nut to align its central hole with the purple peg, lowering the nut onto the peg to establish a secure assembled fit."}
+{"subtask_index": 2747, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}
+{"subtask_index": 2748, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: idle: Right hand remains empty above the right side of the wooden block rack without obvious movement."}
+{"subtask_index": 2749, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: reach: Right hand moves empty downward and rightward toward the small green cubic block placed on the dark table surface."}
+{"subtask_index": 2750, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to establish a stable grip, with the block remaining in contact with the table surface."}
+{"subtask_index": 2751, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface, keeping fingers closed firmly around the block."}
+{"subtask_index": 2752, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: transport: Right hand transports the lifted green square block through the air toward the wooden block rack, positioning it directly above the target white cylindrical peg."}
+{"subtask_index": 2753, "subtask": "Left hand: idle: Left hand remains empty at the home position without moving. | Right hand: place_release: Right hand lowers the green square block toward the target white cylindrical peg, makes small positional adjustments to align the block with the peg, sets the block stably onto the peg, fingers opening slightly to release grip on the block."}
+{"subtask_index": 2754, "subtask": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table without touching any object. | Right hand: other:adjust_finger_posture: Right hand adjusts its finger posture at the right side of the table without touching any object."}
+{"subtask_index": 2755, "subtask": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture at the left side of the table without touching any object. | Right hand: reach: Right hand moves left towards the green hexagonal part on the table near the wooden base."}
+{"subtask_index": 2756, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves left towards the green hexagonal part on the table near the wooden base."}
+{"subtask_index": 2757, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal part on the table."}
+{"subtask_index": 2758, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal part up from the table surface."}
+{"subtask_index": 2759, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the green hexagonal part upward and toward the leftmost purple peg."}
+{"subtask_index": 2760, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal part with the leftmost purple peg on the wooden base to assemble it."}
+{"subtask_index": 2761, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers closing around the block."}
+{"subtask_index": 2762, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost peg of the wooden pegboard."}
+{"subtask_index": 2763, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden pegboard, aligning the block's hole with the peg and lowering the block onto the peg."}
+{"subtask_index": 2764, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the leftmost peg until the block reaches the base of the pegboard."}
+{"subtask_index": 2765, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost peg, with fingers opening and separating from the block."}
+{"subtask_index": 2766, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward and leftward."}
+{"subtask_index": 2767, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}
+{"subtask_index": 2768, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 2769, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black workbench surface."}
+{"subtask_index": 2770, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut upward and leftward to the top of the leftmost purple peg on the green pegboard."}
+{"subtask_index": 2771, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg by aligning and sliding it down the peg."}
+{"subtask_index": 2772, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}
+{"subtask_index": 2773, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white cylindrical block on the leftmost peg while moving downward toward the white hexagonal block on the front area of the black table."}
+{"subtask_index": 2774, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the black table with fingers closing around it."}
+{"subtask_index": 2775, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left area of the black table without moving."}
+{"subtask_index": 2776, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the black table surface."}
+{"subtask_index": 2777, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the white hexagonal piece through the air towards the leftmost top purple peg of the wooden stand."}
+{"subtask_index": 2778, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand lowers the white hexagonal piece onto the leftmost top purple peg of the wooden stand until it is supported."}
+{"subtask_index": 2779, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost top purple peg of the wooden stand without moving."}
+{"subtask_index": 2780, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the left purple peg of the wooden base, with fingers opening and separating from the block."}
+{"subtask_index": 2781, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block on the black table near the wooden base, approaching the block without contact."}
+{"subtask_index": 2782, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 2783, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table surface and transports it to the position above the middle purple peg of the wooden base."}
+{"subtask_index": 2784, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg, moving the ring downward along the peg until it reaches the green base below."}
+{"subtask_index": 2785, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white ring on the purple peg of the wooden rack without moving."}
+{"subtask_index": 2786, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the purple peg and moves downward toward the green hex block on the black table surface."}
+{"subtask_index": 2787, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hex block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2788, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the top of the target peg on the wooden rack."}
+{"subtask_index": 2789, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg on the wooden rack and fits it down onto the peg."}
+{"subtask_index": 2790, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden rack peg without moving."}
+{"subtask_index": 2791, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hollow piece on the right peg of the wooden base."}
+{"subtask_index": 2792, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}
+{"subtask_index": 2793, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}
+{"subtask_index": 2794, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base."}
+{"subtask_index": 2795, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle peg of the wooden base and lowers it onto the peg."}
+{"subtask_index": 2796, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the middle peg of the wooden base without moving."}
+{"subtask_index": 2797, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost column of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 2798, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 2799, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2800, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 2801, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and mates it onto the rod."}
+{"subtask_index": 2802, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 2803, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white block with a purple rod on the right side of the wooden rack, with fingers opening slightly."}
+{"subtask_index": 2804, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping empty."}
+{"subtask_index": 2805, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing gradually to adjust the grip."}
+{"subtask_index": 2806, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal holed part from the lower right area of the table toward the central pegboard."}
+{"subtask_index": 2807, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal holed part onto the middle peg of the rightmost column of the pegboard."}
+{"subtask_index": 2808, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the middle peg of the rightmost column without moving."}
+{"subtask_index": 2809, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the middle peg of the rightmost column."}
+{"subtask_index": 2810, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part downward to the area above the bottom purple peg of the rightmost column."}
+{"subtask_index": 2811, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the bottom purple peg of the rightmost column, making fine position adjustments."}
+{"subtask_index": 2812, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the bottom purple peg of the rightmost column."}
+{"subtask_index": 2813, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward to reposition above the bottom purple peg of the rightmost column."}
+{"subtask_index": 2814, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal part fully onto the bottom purple peg of the rightmost column and releases its grip from the part."}
+{"subtask_index": 2815, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the purple component on the top of the rightmost white bottle of the wooden base."}
+{"subtask_index": 2816, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down-right towards the green square block on the black table surface."}
+{"subtask_index": 2817, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green square block with fingers closing around it."}
+{"subtask_index": 2818, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it upward-left to the top of the rightmost white bottle with purple component."}
+{"subtask_index": 2819, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple component and fits it onto the rightmost white bottle."}
+{"subtask_index": 2820, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green square block on the rightmost white bottle without moving."}
+{"subtask_index": 2821, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}
+{"subtask_index": 2822, "subtask": "Left hand: other:adjust_hand_pose: Left hand adjusts its pose with slight wrist and finger movement, without touching any operating object. | Right hand: reach: Right hand moves towards the green block placed on the table near the wooden base with purple rods."}
+{"subtask_index": 2823, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block placed on the table near the wooden base with purple rods."}
+{"subtask_index": 2824, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the green block, fingers adjust to form a grip on the green block."}
+{"subtask_index": 2825, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod on the wooden base."}
+{"subtask_index": 2826, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod by aligning and pressing it down to fit the rod."}
+{"subtask_index": 2827, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black tabletop with fingers open."}
+{"subtask_index": 2828, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black tabletop."}
+{"subtask_index": 2829, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden rack."}
+{"subtask_index": 2830, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the leftmost purple rod on the wooden rack."}
+{"subtask_index": 2831, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the leftmost purple rod until it is supported by the rod."}
+{"subtask_index": 2832, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block."}
+{"subtask_index": 2833, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple peg on the wooden base."}
+{"subtask_index": 2834, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, with slight grip adjustment movements."}
+{"subtask_index": 2835, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the top-left test tube on the wooden rack."}
+{"subtask_index": 2836, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top-left test tube of the wooden rack by fitting it over the tube."}
+{"subtask_index": 2837, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}
+{"subtask_index": 2838, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}
+{"subtask_index": 2839, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}
+{"subtask_index": 2840, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical sleeve onto the post on the wooden base."}
+{"subtask_index": 2841, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}
+{"subtask_index": 2842, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes fingers to grasp the green block and lifts it upward away from the table surface."}
+{"subtask_index": 2843, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, fingers close to secure the block."}
+{"subtask_index": 2844, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden rack with white cylinders."}
+{"subtask_index": 2845, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white cylinder on the wooden rack and mates it onto the cylinder."}
+{"subtask_index": 2846, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}
+{"subtask_index": 2847, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden rack."}
+{"subtask_index": 2848, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the wooden base."}
+{"subtask_index": 2849, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 2850, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}
+{"subtask_index": 2851, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black tabletop."}
+{"subtask_index": 2852, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the target column on the wooden base."}
+{"subtask_index": 2853, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the target column on the wooden base."}
+{"subtask_index": 2854, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the target column without moving."}
+{"subtask_index": 2855, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the target column."}
+{"subtask_index": 2856, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the purple rod of the wooden base."}
+{"subtask_index": 2857, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the table."}
+{"subtask_index": 2858, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the top of the purple rod on the wooden base."}
+{"subtask_index": 2859, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod on the wooden base."}
+{"subtask_index": 2860, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal block down onto the purple rod, then releases the block."}
+{"subtask_index": 2861, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the empty slot of the wooden tray."}
+{"subtask_index": 2862, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block on the lower right area of the tabletop."}
+{"subtask_index": 2863, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the tabletop with fingers closing."}
+{"subtask_index": 2864, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white bottle rack."}
+{"subtask_index": 2865, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target white bottle with purple top on the rack."}
+{"subtask_index": 2866, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious displacement."}
+{"subtask_index": 2867, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers held slightly open."}
+{"subtask_index": 2868, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand positions adjacent to the left green hexagonal block, fingers closing to contact the block and adjusting grip, with the block remaining on the table surface."}
+{"subtask_index": 2869, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above a purple vertical post on the wooden assembly base."}
+{"subtask_index": 2870, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit it securely onto the post for assembly."}
+{"subtask_index": 2871, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand maintains a partially open finger posture as it moves downward from the area next to the wooden peg assembly toward the white hexagonal nut on the black table surface, and does not touch the nut during this movement."}
+{"subtask_index": 2872, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the black table surface, making small positional adjustments to its fingers to form a grip, while the nut stays in contact with the table surface."}
+{"subtask_index": 2873, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple assembly post on the wooden base."}
+{"subtask_index": 2874, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple assembly post, making small positional adjustments while lowering the nut to fit it onto the post until it is fully seated."}
+{"subtask_index": 2875, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the fully seated white hexagonal nut on the purple assembly post without any observable movement of the hand or the nut."}
+{"subtask_index": 2876, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place_release: Right hand places the white hexagonal component onto the purple peg on the wooden assembly base and releases the component."}
+{"subtask_index": 2877, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}
+{"subtask_index": 2878, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts finger positions to close around the target white hexagonal nut on the table to establish a grasp."}
+{"subtask_index": 2879, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table while moving it upward to the position above the purple rod on the wooden rack."}
+{"subtask_index": 2880, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligning its central hole with the purple rod for assembly."}
+{"subtask_index": 2881, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: press: Right hand presses the white hexagonal cap on the purple post of the wooden base downward along the vertical axis of the post until the cap sits flush with adjacent caps."}
+{"subtask_index": 2882, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and forward away from the wooden base, approaching the white hexagonal block resting on the table surface without making contact."}
+{"subtask_index": 2883, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the table, closing fingers to make contact and adjust grip on the block, which remains supported by the table surface."}
+{"subtask_index": 2884, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to a position above the target purple vertical rod on the assembly base."}
+{"subtask_index": 2885, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate_place: Right hand fits the white hexagonal nut onto the top of the purple rod and slides it downward along the rod until it rests stably on the lower white nut at the target assembly position."}
+{"subtask_index": 2886, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}
+{"subtask_index": 2887, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block assembly toward the green hexagonal block resting on the black table surface."}
+{"subtask_index": 2888, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grip while the block remains supported by the table."}
+{"subtask_index": 2889, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely separated from the table surface."}
+{"subtask_index": 2890, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple vertical rod mounted on the wooden block base."}
+{"subtask_index": 2891, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, then lowers the block to fit it onto the rod until it rests stably on the white block beneath."}
+{"subtask_index": 2892, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the fitted green hexagonal block without movement, as the block remains stably positioned on the purple rod and supported by the white block below."}
+{"subtask_index": 2893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black table surface in front of the wooden block base."}
+{"subtask_index": 2894, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact positions to form a stable grasp on the nut."}
+{"subtask_index": 2895, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 2896, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple vertical rod, lowering it slightly toward the rod."}
+{"subtask_index": 2897, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple vertical rod without visible movement of the hand or the nut."}
+{"subtask_index": 2898, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand readjusts the position and orientation of the white hexagonal nut to align with the purple vertical rod, continuing to position the nut over the rod."}
+{"subtask_index": 2899, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward toward the nearest white hexagonal nut on the table surface, staying empty before making contact with the nut."}
+{"subtask_index": 2900, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, gradually closing fingers and adjusting contact positions to form a grip, with the nut remaining supported by the table."}
+{"subtask_index": 2901, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: transport: Right hand firmly grips the white hexagonal nut with a central hole and moves it upward and left toward the purple slender rod leaning against the right side of the stacked hexagonal block assembly on the wooden base."}
+{"subtask_index": 2902, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: mate: Right hand adjusts the held white hexagonal nut to align its central hole with the upper end of the purple slender rod, fitting the rod into the nut's hole."}
+{"subtask_index": 2903, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod, guiding the rod to a vertical position and inserting the lower end of the rod into the empty hole on the front of the wooden base, until the nut rests stably on the vertical rod above the base."}
+{"subtask_index": 2904, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal nut on the purple vertical rod, breaking contact between the hand and the nut."}
+{"subtask_index": 2905, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface, with fingers held open."}
+{"subtask_index": 2906, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}
+{"subtask_index": 2907, "subtask": "Left hand: retreat: Left hand moves slightly upward away from the wooden block holder, with fingers remaining extended. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}
+{"subtask_index": 2908, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust to establish a grasp on the nut."}
+{"subtask_index": 2909, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: hold: Right hand holds the white hexagonal block steadily on the black table surface without observable movement."}
+{"subtask_index": 2910, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward and leftward to the position above the empty purple peg on the wooden rack."}
+{"subtask_index": 2911, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block slightly to align its central hole with the purple peg on the wooden rack."}
+{"subtask_index": 2912, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: place: Right hand lowers the aligned white hexagonal block down along the purple peg until the block rests stably on the wooden rack."}
+{"subtask_index": 2913, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that rests on the wooden rack."}
+{"subtask_index": 2914, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: retreat: Right hand moves rightward away from the placed white hexagonal block with an empty hand."}
+{"subtask_index": 2915, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: reach: Right hand moves empty from the area adjacent to the bottle rack downward toward the green cube placed on the dark table surface."}
+{"subtask_index": 2916, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grip, with the cube remaining on the table surface."}
+{"subtask_index": 2917, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table surface, transports the cube upward and leftward to the position directly above the rightmost white bottle on the wooden rack."}
+{"subtask_index": 2918, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: mate: Right hand aligns the green cube with the top of the rightmost white bottle, adjusts its position to nest the cube onto the bottle top for assembly."}
+{"subtask_index": 2919, "subtask": "Left hand: idle: Left hand remains empty at the raised position near the wooden block holder without moving. | Right hand: release: Right hand opens its fingers to release the green cube, separating from the cube that stays stably on the bottle top."}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/tasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3606c7d62df09a7ba7d1d3b13ec5cfb5e44fa63
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: TicTacToe"}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/v40_validation.json b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..cae379d228c8626adb74cba293f2b21dfc7c9177
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 54,
+  "frames": 140615,
+  "video_frames": {
+    "observation.images.head_left": 140615,
+    "observation.images.wrist_left": 140615,
+    "observation.images.wrist_right": 140615,
+    "observation.images.head_right": 140615,
+    "observation.images.tactile_deform": 140615,
+    "observation.images.tactile_raw": 140615
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 54
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4853f517f1acb351cfd23c8de267c334f44e4191
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_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:fed43eb9f5a3188563f06f6460caf66350b3d537976c50cd02fea0daf83de1b3
+size 52433417
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e18d4df7d63489dff422d5b3d66367a2ac31e521
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7b4def95a3eb6293fb8c126121df332d895a0cce5856c08b560057cd2f9aa2
+size 46396692
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e460746c1e68e59096db34e0aa1b69e12e7af5fd
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e447007d5c00afcdc385659a06f13f8f7897796d020a178e7d58a82fc20bf649
+size 44788755
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56a6cdfa3a42be7cdd30f5440e56a7bf04b3a9c7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cd650417579a52d6b2c13df4ceded85fd632425fa135cb3a0d5658d7c8b9a55
+size 46538677
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..145af92578217233e936408987b17cc8e696d24f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5236cbf476c30d98d425a6860de28e7abd490a3c5eadc8fa72da087fdd47e9c
+size 45196872
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2712eb2334adb4f62e2fc8a98b5fc1db37555b54
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f962852a88c0302d0f7985e6e2ac0c072a3108d8a67b91b6457e564d8840136
+size 43189237
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a34250faa502d29724a872504e03089d9f524d4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39c43ddb99c91549787ad69910b6220798c7d8a7f2b271dbaf88cf7a864cf375
+size 45632844
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d47cf9999d3dfe1121d45c7f14d06fb24d1b1105
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f14977d32dcf4cf0e28b1ab292d8b4a0711df50a6c88301a1c6a569cbd25c32
+size 53597731
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91339e0a6387e1e741ae8c1b3f9cab7c674b0e1e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade8bf186ae58a14e26ccdfafe5c41577b30d439c6d1f80941273cd00c8baeac
+size 44270822
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46f450a38c0bc939ec4d27921423ccbae54be0bf
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e66fe57b91b09334d348a5f2e09a19724dd8c8f239f922cf15d1b1d9afa806de
+size 45971649
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ae83ec4867e89f21e49238e9a95cf2ad6509904
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae9fdfb68bed94d286d55487d16a3cf0ca7463436b4a028f56d3a5e2ecc7731e
+size 45735550
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aef75c5cec33702f20d6775017182686cd55d199
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5354dcb8ac6beac3632aa296e11f385f95bc03c032e25d31efeb3fd9d3397633
+size 46215962
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11d9a2727563fdad924a5d39c706e447afabf1e2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3019657dd561c9a9cc7dc68b5d7b64b4864ddd296c19358add8bb32736846f19
+size 52580068
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1982e484d007c7a1a8a43ef319f5adbb1572c7cb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd356c64bba49413cff6c84775be5f65f3bac530f873fb3bd09221508bb53620
+size 53292050
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27f386cccd49685cdfce310821ec09cdf5ab0b4d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:834dc2304928643d50b2e20af3f2946ff3a0373868737377d206daa5e947ddc8
+size 51618448
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb03faa404e5f173496e9660ecde621c14e926b0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:058f2f5ef42889c9f54f6e06a6accdb95c1e3ae042653956bad8bef119b6a13a
+size 54836590
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bdde9271c04c2c227f02165be38433bd8e53e4e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d3f802f44cf5bd45101fb20d76eaa0690973718ded0fa45dab6bb0ba5f38a16
+size 50779343
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d20ea361914f8a224fe30b2b1874e7935d8ac757
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cd36e502c5c8e56c154adb38e7ebd94e38c819b2e188c6062ba8980f694105a
+size 57797023
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03f980afd63dc9e0d4fd8d507f365e53944253a0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6139a8da8f0c3abc7546aa03e5951e1db6607f547c4a230cfdf000c26bad693
+size 45211360
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4665f8607ce3d12be72c0fa25aaea9a3568eff82
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee5a6a53f9267ae13d3485fd60a5ab52194c4a79dda8a068c2bf20d9a3439f04
+size 43402767
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98a8f941941a42f926e66d1a7580ac8baa8463eb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09913bfe22ec4b1fda95fd8e00f9db75a09a5757eb03e1a3facc954cafc4ec2b
+size 51798228
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5bec2aec2687d1a7a7ef1ece566851e9b85b1e8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b7e4b9c8d0a94b5017c8d0d774dd419230f6dcce388ec552b1ed53a1cc8f85
+size 54229097
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5e15ddaeefa170dbcdfcb0ed8ce9a253fed3cf4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f86493f91f53ccb7d74acd52bb75e41f57ab2d1b9b341f2ac884ce3fdc98ab6
+size 50217343
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afe94c072b63a3b765d1e2573ac82eff53116ee5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:660b7beba6b5fc5dff2875697e90bc83dc8bcb3de27b30e058fcf8f2b92c88ee
+size 51676310
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68b5b617352114d91401a12c945c2327fca63246
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:570179bf8f62f085497e8a6abaf56a43a4f7fdd2be10399d397349b91cb41431
+size 53147112
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ef72eee0f85d33e1dce118483c3559e0decd04b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c74b5c4d2f58081448d0bbd046085d23ba5bd7ea2394a3aa24b1a888892fe82
+size 43722563
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bfcf9f1daf50f043590f65ba5601e31994066b16
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0f4ec23c35ac1444e9472c60f1f9eee74756f2c8458486c73a78f962024d048
+size 47452602
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..576413380416b3cbfcabbeeac05ff7f7c480e4a1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f4b12bd530feca90208d64f542a6c47500265ec9dee29854eb75c076fe77e40
+size 40046662
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07e28e5bacea071c5fc4371004a3ac762d0d97d8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e272bdfccc1120f5181d6fbc146a02bb5caa1c792952c62a23858504410a737c
+size 42157395
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b5612f5b044744aca9fcf8ae1562cfd1183b7710
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f041af28526e704c5d5c7d2a3df30ef7e857db6c3fb8a653d2f2a251299cfa0
+size 38057945
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9873308fb1272229ab2da622da7289b3b531c618
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6586d3c70cbe0e4d866b197bff625142a5df7e1d7abc0d461722256184d21e3c
+size 40430117
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a90be9c188e1021d40082982742c4c4979779ace
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:638932b60dc475295eb19566ed79cfc64629f02f21fabc0ad7f3a2354465a001
+size 48495649
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1eb46350793a1c0b480a379c136479b3108fe4f2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc234584db0c351f3b309e6306b010d89725ecfa4cd43b047132d9c6711a3b7d
+size 41490609
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..782bbfc72765bbe0e74ebe3f8af0bf7885dc54ee
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38133cb628a12917c064c1b9fbadfb9e823743aba872d39cbe2bceb8f202e16a
+size 45393701
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000034.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..747b2cf1586b75a14eeee9b054262ea23b98fb8b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c95d39623f64f1f802659e4c7fcf19626c5ca4e64d360e9dce694fd01587e091
+size 40937865
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000035.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2f82627beb565c1ac4a57973334070a70d2e7d4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94ef2291b74fe949e0b53f55749ce5ee468938849cbf01a5331f54f10a892fe4
+size 45363075
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000036.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..751214e7e9c3c85f8dbb32123a355e050acf30b0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8a1802d0e5fe50e603e21f55dae6049ee8f82ba934449f88032941469af4edd
+size 43565592
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000037.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c81131a9683fdd15d00ffcba7f56a1e950c49c2c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b7b04cd2257af6eb9946339ec0e5fc69e8e7074831653b328d200086b37cc21
+size 48320855
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000038.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d27a5dfb19c166e60ec3dd42aa864792c5628a12
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc41d5facbd66bf8c98ee9b12b021aeed98574c6de87c86fb664cc3a056e5647
+size 40779531
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000039.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..105170b1aea4a16f09d2ad92376c89eef916c3fb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a96c24bf9dddf0cb691d5d65c49d88d7f50fa0e1a30cc9b0c046d7ef520a8e9
+size 42338586
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000040.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c35a5c80a25404f8b29ec330ac71534af8dc14d2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c668bf415e1cbbeafe8ac998f6e3c68af4e814d6633d88f402fd2f52ecd6657f
+size 43651525
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000041.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e85fc7871be54828815eab0e67b469b53d0df8c9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c7710a83abc203e5dbd705f9eb0cdc4147c0e7598cf5e6cb2a4ab8600da4de
+size 48689259
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000042.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf201bd8d7708ddd785353accdd27bbc24fe2530
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e29f719c58396fa16e60e8139cac27de419237f1285d79cbc6aa2e87d87dfa1f
+size 47847294
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000043.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed5d2d658f52e3a2e4573809c48ddc8c0c4e5549
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b7a666d7d7154a58a73f3afd73f3cd21319f577248b6485e80b499398c62f8
+size 49232659
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000044.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f34d1cef79ac47c6a20f2e53afb66073bb4e57f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc99764cb7d1f3ed8b53fa2294d3d9fa8662c57e2cfdf6a7781d7902f671c3ae
+size 45699555
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000045.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30199c5932b2000b6780b6268e37dee4655a3d53
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:109471462ed66d0866843881fdfdb68eec59ee0901df40a714510e7ecc1aabe7
+size 49121960
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000046.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd02e1eb388f1456d8484397f9272d7c82e9051e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df47e924f8da3f4fabb842375379dcdabe614215cb2dc1c6431dad4035455f55
+size 43269489
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000047.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c689c375ad80eda70caadcb3571aa85a80829ca0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84afc2f6e1998eae556050a87bbf753a82095ec358aa7412bf124ff0f29e89b3
+size 47594988
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000048.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a3d8158e322fdbde19615e8cd14c328aedb451d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d19c61568a78934eb3700e3b89a59a2f9ad2873843e21e215daa0a5d804781b6
+size 52258895
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000049.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..326e54cc7cd6e4880f4bf4c30cb0e6c4702884d3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63649d01859f530b0306c40054967a84c643eb1b920db705b69b794ca482556a
+size 42491074
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000050.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a61d2b2fd712a009e4a9ed63f5c905d8df9be489
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc8692bcd769b58bf8affc93ee95da44fc00fdf2f1939c6fa0ac413928c5049
+size 52934469
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000051.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69615b0c6ede0bd5e5f5d848915b275640a43f31
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95719a9a61076f70087d8f835ba2ae2ddff5fb253599b0a3e46204bef254ede5
+size 48475131
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000052.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..939eac4c5dd6731afea517f594a91c146cf43957
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ea4d44758b22a4b4f2d90eea5a55df659bcace988febedc3eabb1b34165888
+size 38538074
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000053.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..19b577255079e4c2dfe7f5b8fc59a7d78660490c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1b5d6122eca8707aae48cdd0c2f1109fe79ca40889f513355905d3323c29f61
+size 50733058
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02e94b7fe9d4d58aa32025519034158a228b4200
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68ee11c27e8cdcd542e4507421d0580e79ead4e76656c233caf42bde50e1b940
+size 54454668
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c2cddc1e22d1e5c84662ec8a77d4abd7b6d18b9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe651693b2ef0cbc4c03acaa6cccd7d4b2195afe1765f56b876e83977dbbc836
+size 48279968
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2d40ac66832d234abdf9ff7ae42357f447103da
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3fef7e7c946698cf8ce0b60e318c7c2fe1dab106c8c58e97dabf0d856fddc1c
+size 46272152
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..187d20f029fd25dc7b5c9b6622b167dbd9012a63
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e0bb55fd6514f01421da2d987f642ece3cbcaa9f5e519816bafe91fc1d7e64b
+size 48387476
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07e5a7e021923b41e666e18b95eefae3a68f8582
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1fb0e432583721f060568997a8d98b4460600322000fd2d005216507e1c8e7
+size 46995398
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ddc886ae1486ef1d00494c76aab52ce097673212
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a3f726d04c41e8c1b8a44bd2f16e73863bbda2e134bdc44dfce9f42f0b92927
+size 44426533
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55fc58f448e4c0d97f396a0ce96dbcf4497b5f57
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f248b832d5d04a75da36e3b59cc55220373fe4ec41ebf006e7cb263ce93b4865
+size 47471307
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09a95f15bdf0fe449a2f1f2f0c836ef3f449f006
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad8c3c393ccb70191d8448706131aa22b24389ffc9c7f1f388e6c3e2a7e9ac48
+size 55012942
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8702670bf12bb622e90aa56cfc902badcd357a57
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:becd10e21ba1f8cd714afe891b5201c38fd882eb53f145b2907b896e498c29c8
+size 45970980
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59574de22d8f70a620ace9b69f8a6937145569c4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e77ec4c1f1b282d857d5491a0bcb76fff466a04f1c8da96bb95fbc22e0934a8
+size 47319502
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b4d6f0002e6f9e8658a58db7b808e60d954fb12
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c100d01c403f4ac0011902de20d744329078d664a14fb7a886bfddd41cd69d4
+size 47598335
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd860bc89dbcdc463e92c66c67eaccd104e076b3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ce0b9cd9c3da3e19b85d93b0efc0617da3ce6aeba5fb62fb5ea1ec7bc8216b5
+size 47820074
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..facb2dd10354ffc4c126ffe83124f1b90f02504b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:184ff50913f5a0544be2bdb6ac4b2b602bb6ed565bb6dddf6d41e3407a0df633
+size 54298854
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32d6ba822fc64cc38b2312e415a822dedd11d2f4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff1eec8ec5039f45427591cdc21508371ab13a2be27b27790c2391fec88de2d1
+size 55199896
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..acbdb5e189be7df466539ea1582bae6bb06c4c34
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2892b7b2c9f2dff706cec8d2ed4b98b4f037a44cb2fd0fabb051703d89964bd2
+size 53439880
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c665de24ac3489412045b0f83377afd4cb1d3cab
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6b312a0ecaca050fee2f50fe3fe698b95ae745e885dbd615cefdb710abbcc36
+size 56801076
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d9ecf0eb8b29908882f2ba28c5b7addc1020e30
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c90a2e0ed1761a56251f76a547d6f735707bc4c54c25233c5c13a0624094579
+size 52822220
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d8463af1bcb3dd6bd6ea98f247ead23d641a48b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12d5508f372862da2f238c6155aeb3f394d1ec324d3b511492e72ab5fba0b7b8
+size 60409325
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9363a74328649ce3d01e5caacd0eebd71edf26df
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6faa950dbec99546ab93ed4a07ad25c01f8044d73dc9beb2b81ac17ce1245c4a
+size 47108600
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d739ef884400785267a8ee442099ed6ff361ed0c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e370c4127ef723d31a53161f6f29e3f760143efcd601d9f615802962ea2be382
+size 44972085
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df2920c336071baee548fca742c814634ad50338
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:461c11ba9e7d092ddcad6b1d59bdaf49729500678b572b9769abbf9215ae6e1f
+size 53859330
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f27488af308e6fd28cf1be97d5a802fd13a93661
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2405145bb6fe997fd77cf487b4bdd78d5bc84dd0ff5c781b746bba1dc3470ed
+size 56252030
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f392c4a52dbb6183b4f0f58098ff054c4225bd8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89686cec0fba5e18b98d1b547432968aa7d2a7df83e0196e7233a6bed2fc389e
+size 52043594
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54930d50da387c6b726150c868b09dbaae57143d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b17668df3232b6b07c1548ed1073de34b85c31e6190ec6f32831ae18a5c9d15a
+size 53475014
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eded65031e67b753c7f67fffc7a354e7325503ac
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8316164c4a5b7a9b6b085edf84ca25e8280236e74a492526a23f0b2efbfb3ef5
+size 55122737
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2012c3e0ebebce9161eedcf835130409fc9360d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7fe6858784a0221c178aa8e4f1bac7ddf4457de388810f054c3fe2651582165
+size 45767206
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1fe6f5784e969c56670f1209e90fc9d4ffb118a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54072f79f30061b7cb7d2f146fe19f745bd0c5a2fc5e4c0c9f99f984eb92af9e
+size 49219302
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd42d0ad0ce9144d10174cc3519f016f9bcfd712
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1063d7528d8ae21b645ab4f15db0f7b23e30f1ea59e9de150127ff74ffac13ce
+size 41859666
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2807eff09f7db71a2c7083afe529a9794a75b4a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc3085e4df44cf7d164e3ee82bea53fd2e97d749b44ffa5334a3e4c4807729c9
+size 43881139
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f40d899262c4464e7489d2424fc6cd28aae7758
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f0ba8417d3688ecf1049d8717c647939edcfc1823ae1ecde5e7bb52963999d4
+size 39429872
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f1efdf40c69a4eac08c2397a2c5530cfad51096
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88a0a23dad8514167c7ba2da66eb49e03743370444e3ecf796c2e37c71d0fcaa
+size 41893637
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ca168aff04e586fbb4d9c0939dd5c474d3aaa5d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f53be6d43086d435f4215cc3370633212e887a68a7dc722947d4b014162c0eb
+size 50377118
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e263a511b448c762991bd791e610579406591364
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce3002cf60d9032d5c7b92c88e277010bcec4a0770ba6d6199b260ffbde91c49
+size 42910649
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74117ce4f5bca58ed9c1ad3e41a745545a71b37a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:573192b6c87e49bc23d52d24c23867eed053892d3d62d1088d42941146f811b0
+size 46953790
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000034.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1265dd022a9d107019cf11bbe8c8f7bd299e213
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e717cabc7088223e6ce6b1218387d83ad109fac7d47ef32c295572a006e898d4
+size 42390093
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000035.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c988da7cf64268dd42956bef9d7fdb17dc0ec41
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dcfa2bfe8c5b1f6eb892243e798fc99ed3d79792a3079cdfd3c438fbfce2180
+size 47103164
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000036.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8054bd22bb760b0e78e8c802103c34be1fb36761
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ccb79d46c4278f8ff2d2b8378b8a2f48bec4441d646a80e0e29e57bd315a52e
+size 45337298
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000037.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..300db9de82a8958cd9d828cdfe48af2c125deac5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c80fcac965145a2bcd3a8b8383a77166e51d53e3a3e1d3c937df742cb2eba81
+size 50296779
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000038.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47a2544a57da1f24b16d187bab94224dafed4a1a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cce45c09cf216005dbb3e116b208998e9d7381afd2023cbaa2db78be5079605a
+size 42209356
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000039.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54a10e6a53aa114713b7b1679e389bd51644cb60
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b862fea362aaa036ec1b96bc129fad9a1054c6b2e806a67d4a8b6eb5a6405e
+size 43988720
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000040.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..915601c6f0214388248c6bcd4517470c9a9c86db
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07c6940471ff83070d516e832e077960e5ec858a0a0a9e02b790407899d5f503
+size 44947608
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000041.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fa62896eeb81048291baeb64aa852e5cee5835c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fe90308eef4a96ac1c7d2d6875c92002a0065d0faff8e2a85870062232ec3bb
+size 50592083
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000042.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4280312849a652ffb28d988d0d298c1770b7cc5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e39892918d9ca8069b1518fd8b0f7c763d9dc7aa84052972c26e5509beee6785
+size 49534407
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000043.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06d323b6942df14c34ff5d4f90a0d1b6d5eb8e4f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1895833f1c2f49557da94ec07a4fe04e782622677afbca4c76ce5caa1f7fc5b2
+size 50716727
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000044.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74fce5efc8d4ca5b66113b83327dabb7ddb57818
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a37807eacf7fa0684896b2dec89fa8c9ed14b6375eb530b053bc21ecb9e788c8
+size 47508853
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000045.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98ce7a57fc5e6426a56cd0a45cf9f02a9b4390ef
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80fd6ae063d5ca39c90ee5188bd57d14906cd0b3d24eeeb4dbcbc90b3398ef23
+size 50673454
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000046.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92ff3012d69d78400753e519c2df15816c532a6b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae24e054a03d2f7d88f67719f6d30ccad517e87f4238b11e4bfe645943a88d9e
+size 44596187
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000047.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ff550aaae6808b93cd40b960ebf02101f15d2f5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc14d574990991a7f981bea548307df15fa570f3ecea320d4c3965f6ba4f8fe4
+size 49306360
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000048.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60cae8191edc24dfecc087178f1dca9accc72161
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:716722a4863b338227acebc05b0b9c7b9be17fe42c2a5f67c3c6be869b1019c2
+size 54332235
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000049.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..499e4d35f2ddecabc05175375ca26300ff301aea
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1991dcc6f183749c97b49b18cd547e83bfa0b18be6bc23ddb6595b7ca63c93d0
+size 43954069
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000050.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a0361ef38d7851c167aefe89e00c9a2568a8797
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df60e72c218b289de4a68669f02e08909e87881b6717c673fa6cd54e3e29cbf2
+size 54931156
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000051.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2decbdb744e1256a27512be6552cf01c5c0f3898
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2800c99ccefa99d652be11ffbddd705aaf65e08624bb28c2e87daebf87d7337c
+size 50086786
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000052.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b6619c2c5f013439a47ffa5852fa28a58fe8576
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:389b45124d5435895d33b5e451695a88ff86ade86037d9829af98d4a7f47460d
+size 39943893
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000053.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c6e55eb3f6b1e64234d8178dffa9bf37c5624b0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b51b06a0f13c695258bb2c715850ca9c195a664ab39d6489df126c58d51f1b
+size 52359435
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb4c80494dc3ad1dba48805a67350bef9f92afce
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fec8e940fe50c1ee923346033e3583edf369417cb7005b82ba3f626701721508
+size 1096053
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa99ef6a6480068127686bd62e1d8e07de2926cc
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fb0d9baf7367e936eb3f5b005a6aad00c0c6d470ab372bcfd6f67f4e67deb5f
+size 992598
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e5d503a6d523a9fbcd6f49af23ba1323a056690
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a218e6fbf71bcaf93198ecbf35be0a1545aefe7d19255d9abf9a7df19d1ec75
+size 981340
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82d3bf400c7a6da51be41f433186556a62d36c69
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17b38703450e3c6bdc059e38c1d5d6b9b49a6c5967142804c02ec268563af966
+size 977950
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c59063cf06d81e9b44452410ccd1ac0a6a7ebd87
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e57468a2c2d7211b74fcd21c8112dba8ea4046cc840c3311f5121647f72087a1
+size 1056365
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..965c89d5ec5666f068a0b19d073fdcdd272d64d8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72da9faea0613e505b8d7d95fff4cf26e7e9a01e9c5e0cb3c6cd0e17d8e4dffd
+size 992790
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..550e71da61185f54767956aac3d1e3e785c2ba2d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a82cdda5f34beb09a04f4c81d20ee2b5bb56a7779ad0969dfb6396738cac804
+size 1073781
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92388f92fa547e1e8e9c92889ac8cf6e7feff3e7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bcd4b843508729a4b998618b51bf0d38523fef715500506ffd578b2baf2a583
+size 1228139
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8898fe15804c9d2a5e7c6bb475bb4e9d41a26e9e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3675fc13a6623b8fb8f1ae3f3b060fde8dd4ec7f48f2aa4262b56dfbb6a37773
+size 958714
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae6d45d03b5b606e40d3a6100528bca6a1e80970
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5641371e7c6236a1abbe53a7a22c8b6578bcaa6318ae2be5ebfb7e3aa2a8ce3
+size 1121827
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..adedc3c57b15b4d163fd98a25046054ddc71947e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0d3967b5838bf7cec6ed2cc4754021ee705f41ce038ff6d4af9af38aebbd7e3
+size 996885
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11508906f35dbd448854bb4534e8498701f7f4f7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0923ebbf564f631c01d97cc48974217134a4c1e96d8c69ac47ba996576d435fc
+size 1037698
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e02ed28c4f84732ac83e645654b0ff72ebc0e28
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45b9753e0e10a45ebcdb12e3756d5fd8ba00cdf6be15b279481202c79578da2c
+size 1369618
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f850ef90c15b1a6a15898d6fbc712ffcf76a2c9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf47c635a0d347e0d2b916796b7a752b7661a94f421b606707da494baf08a9be
+size 1302479
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e3c6a1e7ce17cfa1740768d9b9abae4c1ef6153
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d6b1fb8591d9e47657795e1c51357e25dda253bc5208bb7956f2e6dc96f68a
+size 1295549
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29390e7fd8df99d5b6bc9c85b406e460e662e1e7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb0ce4cf8feba4fd2a37e378e1f23e845322c389aa070fc6cad66f705ea10658
+size 1440660
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8511044f83dda92f1634decf98a6da35056a80c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6c1b4549d38d7d053c4e05313c6892ac618cf1990a1bd62b01e5b984ef8d297
+size 1320982
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6451419e6c0fb27157a390ee1f4ccf6d09a80907
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3b60602dd95b7ad25339a8549bdf904915cfa9f18328634a34d75dfc4a3745e
+size 1571656
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc49ce52f536ea6c53e02bf09d79a69a70e4d572
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c673a703e274d5940651e16a8c976281d0c75e9895670e50c82097dae8d584c4
+size 1122493
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1352fcc054e6d47c7d7fd6950cd8a3abab2eb1c6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa92185b1ac3bab346287f8c2b435deb3a9e4e97d0599a6839cbbcec78d98bc6
+size 1088211
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ff5361d794013cd0976fea68fab826ff560350f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2301434290b71275feff88c066085c33a1723915e523464a8421bd84bd115cf
+size 1393608
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5692c64c9f0cabb1abefc0de20e19582c7e14081
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:621cef80ca2dd8c79f2169c8970a0344be0b9d639fd8c2e51513794f32f438a8
+size 1445772
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18fa07ffcf502cf5ddb3efca8559b670d98aa6fc
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f59912a8863125a6d2256dbde02827bc00d0e90ada37b3f8eae1867282654f68
+size 1301332
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b21fdb3edc62ac810e213ba890c49df3f94f99d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74e99eb0ed18c0a5a50ce57712250f9821ff7ad810e388c71b84b826f9450fcc
+size 1478679
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..515bd92ed0ab43c9e498ee3670db5bcc8aea4575
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b01eeeb46fbe686d6ebf14f688b05e87b3d3c838682d58e8d235b9278ae76bc
+size 1127434
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a3674b1fda7a6e4aa40907e85e1721ac918a6c1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd19b2132d85d554a1777e2140e657633d5621a827c65a5ba30b4a8861c436c9
+size 1135320
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6bd675286292e485b3493a171c503e91e1dab9c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc734866a0fa980a40e49b549b639e6d8391dcd8053ff239b09a7bd9f679730
+size 1228265
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0623dcf3f9cdf805d2081390c033e024e9c728e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17b8755def674440a3b78b3dc759f378326b929deabdcdfb9a545a694e48c1c4
+size 1009229
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4633b0f0a57ca819378308bbcf3547eb6e72a1eb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e223c5122afd6f516d81b77796f99478cf4510b36171c4d02091015fbb9cf610
+size 1059531
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae64b95988d4eda19f6126d4fedbddf639c3bc60
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ef67686a22f1164f37a53e4c24b71a3fa7ade009053c29ed8fef25c3ab797de
+size 1011418
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec238a1c60b39415d248f28bb507f4617348b34f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3b99137c92a22b6f1410e4a1c2a9196f5e14bf6e6be438d3f0303131a61c51d
+size 1060057
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ecabf69c36957a2ddece3e15f6d2eba84b8dfcf7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:590aad3408616c0d8bd8b8e7dd7f5bd4dcfd1583a6b29cb9021f1ec371426fee
+size 1192014
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03c9a3c32a2ed89ff861e940c545b38cab8db588
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:049aec7ff2f70569db4a42472496ff659252a6a60929fdfcbb19a81093031a6c
+size 1104397
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c73a2d4f06b50feacc28982769cb226aaa6aeee
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f497ae1b9ed5c7b4d7c4d27743a3f5ab366e54161cec655f98ce8ee7f30c451
+size 1123596
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000034.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f4a2ab6fa7fbb0a91eb2f36a6d29fe191ea594f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b40989f1a3e90b388321884061b78011a039c46e55b75b10344c83b54297f37f
+size 1066308
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000035.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..570da3b4cf4cd7229c278b5c00f5a55789c6f84e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:292661779cf420027762ea09b9caf075470ee0495173d9064f48eb56367eeb07
+size 1224072
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000036.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96882adb521bc140637c10b8fb26ad6232fd5d96
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87a673d1a0d47d9c29b630ad90f9de122cead25260d2825f7dedcda06a9f40ae
+size 1294277
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000037.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4787a2cc1cd63e3af330e40f427978cf8bea4de6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d39d984617a97121c89957856351f978a449a9982262781d6fa4154d8340ca3
+size 1430763
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000038.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc564687ed38afa6815660712559764ab2ae2469
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75286aa29705f0570c128eac437883d2dc6ac4bf447b6c61b798ae25f3251458
+size 1074991
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000039.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93571d2ca81041ac79e72edc4b5add5650c44355
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1d0409573e17015c5e265afb217de77f229eded3139f04d8821dc161e4cfb0
+size 1103759
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000040.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5136f612fc069df2de5f553bff0b2b58853a5820
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfe954391c7e9f9135e42d2ee741e90ddb79657a2a8ca49e0a7a9aa45be487e0
+size 1103335
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000041.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0916ef18d25dd4b37aa98b082023ea49659677c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a46fc126563a2febdb00dc3c1ecf39b7a1db49ad8038aef0e5ad9b3311872b5
+size 1409486
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000042.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7bd5ce7d00b4b57ca1ef9f297bbe7ab2cc8e7361
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00554384cbc9b6b170726ac0b1e1fc8847a0b4b55a1cf36b6c7191bcc92be0bd
+size 1343509
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000043.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..baafd6184c937375e4857ed04b40da6ea90e4f9b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1446cc264f407cebd8af27336c3e0da9780e35949bf3d504afe1f54f8c3e4a
+size 1513787
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000044.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8533a53475e1004707f10c94f8c4d25efade1f3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdc96697633cb946a3221b5681205f0fee4ffb2b5343c5719a89aaa4e9610487
+size 1269877
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000045.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f88814e683856ff2c559c61546f9f14ad60f42b6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:695113a3eb064c232b2b2e46431e6f6cd198ac9dcbacf8c3a18b629249a69387
+size 1353253
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000046.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f623b2a9fa40e2bacd73efc466af6cf26e60cbac
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a520e71ea76828149b7bfb7b3023a1373306d6b8f2442b933a39a06270cb1ee8
+size 1073857
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000047.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f80fb5937b2c5b2964032aa7cd6cc5225ee374f8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77770c0dfd20e73a576a1ebe2c51314fffd5a4807f2b1bf061d5b6373f359359
+size 1314520
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000048.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60a3f73b9bc41232a7817695b3718aaed70d00cf
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd831a12f250c01b5e53e61b98c6e2aa1e00585f9cc44d72cb590544f03707e6
+size 1477156
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000049.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65ef605d19880652a0da34299df3a19e578d78af
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8038c8c11ec22a10fc62d14530c41b1987ab3671603fdd4336d3831f5d3bf804
+size 1174672
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000050.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a52ce405a6ba4712f19e1996342e7314bd9d92a8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17732b9b3a536084b93a0294ac9db581301500bb9638ddb892e77530972c6488
+size 1684910
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000051.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73886f6da45d0609ecf204b267ae29b8e99b1426
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b74059ec2e428194dc8ed4b0bb813e2b2dd788a5425019a0c373121a6ac19b2b
+size 1768556
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000052.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5c135cc1fe2f85778ef72f2eaffa039c8366ddf
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cccbe3796f79d939888b3afabf3f4feffd759cf196a43c2c393b8c605b94cd08
+size 1078663
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000053.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27fb477d7d4c9951aa1522e17cdcb24d6e050399
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:708a9f065360d406cbcde4f1cf3180823ae1edd90a46dcee9969f1a787936930
+size 1547134
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d312efb5c8ac9f59108d8fba2192b494115655cb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a83fb97204c304f960b27e2dc5968f076aa4972ef83ac711b01e8ef106568bc
+size 327583534
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42888c9f0eab8779a5fa251ec58250c4b6cc1af9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acab111b74109845fcea052bd52717ba8a174aa038d60ea867138b139394cbf1
+size 297101034
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7a1431037b643d0ee26a54dbef0c1da535c5ba5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ddb18f0553f499fbbcc5b99e2fb6d3e123fcacbb16fff9777b8546b29556e8e
+size 295795943
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f91026a833f83e6b3ca63e9f84f6d279e6cba16
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0dab597528bfdceabd2eaf50a9e0574d8ff7ee264dcc3e2a748c67871b1bb71
+size 291398174
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b01c349866f6359be68fe7f848d7c33d659980c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bce425dfa560bf9c287947ccad0344ebf9ac860b26a3c884c96687597ed44862
+size 286543980
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c3bf9ee5a7b3b501cfe6770f51d91a55c09d150
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b6bdf7276ff692a88f9af76990a8ef74ddf33cf7737a8e2a2bd6a165174c834
+size 271660982
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f346e676eaee771fb94f18cd1296bc3b66a002c9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1ff2d330f78f28ec83ffbc0e77a02171f461725944e09d03250dc8bcd2873dc
+size 286988902
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4114298082bad5da65d27f4dfbf2e13bbe97d72f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a971625163fbc6131867ea6979d3ed5924148dca4c7d57611eea6c7f412d05e6
+size 366176146
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1002ddc687032dcdf53ea4c108fcc493b7418ce
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ac2d710cfca5ad694f845f51d57736c00ff45e95933d1819547eea8284eeda3
+size 284824263
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb76336be116d02464efae0af31c8a17d7b9e8d6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e057ce5d4402de10a11d10424d304fa480fe4b3bef11e19529d8487b2ac5838
+size 313483652
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98e3e0a8ed55e8c9606f2607186fd5c96d31a601
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa8fab8fb246a3c5285f974851a2e74f59b029401691e99ec0dc08523e1961ac
+size 288505347
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e33bce370fa4916b0ceb18855dbe94bda6646eba
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66a505764a4429410a674229799159ebdfcf8842a3b012702c6bfe77bfa4c5c9
+size 296146779
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea01f2094b2c910b93e0aa1d33fff103d4532c13
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e84ff7dab40f31f3eb1305318aef166a4c284e915b9eaff6b4bd4072efd1da0b
+size 345959768
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3dd5e87e895f8823d42b59f7f8afdb37aee10c7c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19990278be72e02758ccd4d87ffa7e9601ea45b9d414f107fd0da1433e27e80b
+size 344190688
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bcc80be92e19aa0d09abdea4a86178b7ed29179d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:676603376b4df193104a220f258d804a375ad4026499b741b5edeee611bc9aef
+size 329506112
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1d4dcbd503d24bd752412011fa8d4cdad523925
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ec4c68a8e8760c6ce457120c2dc09b91f68a05583983a7440ccb132ba9ca56
+size 361540437
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5087e42fe962f3239f34ba106b2b9153272b0e94
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d10d322068464d38b1b1cf69429e04ea8ad1f4f140967c4999af8f100aa865d
+size 328616964
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f70ebfa2bb9a254cac377f3e27b67afd2d8a24cc
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f084715450771da77577f9f428bec20128df1264bb8f20fe770a5550198b651
+size 368655298
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..164fdf2df5beb11c6ad8eae3277b5939988fb4e0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f476a87f9a52ea7d06208cbf6aa5a8cd840f80f64ff909c2cd3cf07358f4aff
+size 288213415
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c02340b09749a8b929f76e6247a34a075d4a1c3a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5476cf58dc33cf9fc5ef76b986d01a4c4282c39c7f1c4ea23df5a7d033f5158
+size 281207511
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e61287c4f379c35fe4ddf8c181630e3715481e5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cd639237a8308bc95319aebf15b69d09cbccdb2127aac6bc0e33a99eb5cdfe0
+size 330042820
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..252db62f76715462d4d3599efd4f811f3a29bfb9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c387e421ad9838e522ff3903758350174520ece174374ee1e088044129eccc92
+size 348032960
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98f662f86c2ae801ee2bd791279ce29f156ebb38
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac1b6c6de27a15ee98754e9e1288f4786306ef73dc48e2cd382c2c488ef587cf
+size 317773727
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7b0fec310820523b683edf34cf6d6fa25bdf156
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_13_42_42_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d6781aeb6af7ede4334e81b60e0ca2d316d86cb510be50df29d543ea8d82e70
+size 347734282